Motion state switching device and biped robot

Abstract

The present disclosure relates to a motion state switching device and a biped robot. The motion state switching device comprises a housing, a movable member and a limiting mechanism. The housing is provided with a sliding channel and a receiving cavity, and the sliding channel extends along a set direction. The movable member is slidably arranged in the sliding channel along the set direction, and at least part of the movable member is arranged in the receiving cavity. The limiting mechanism is arranged in the receiving cavity and is used to limit the movement of the movable member in the sliding channel. The motion state switching device comprises a first working state and a second working state. In the first working state, the limiting mechanism and the movable member are separated. In the second working state, the limiting mechanism and the movable member are in contact, so that the relative position of the movable member and the sliding channel remains fixed. In this way, the motion state switching device can be switched between different working states with high efficiency, and the structure is simple and the cost is low.

Description

Technical Field

[0001] This disclosure relates to the field of robotics, and more particularly to a motion state switching device and a bipedal robot. Background Technology

[0002] In recent years, robotics technology has developed rapidly, with a wide variety of robots emerging. Compared to other types of robots, humanoid robots have developed particularly rapidly. Among these, bipedal humanoid robots, compared to wheeled or tracked humanoid robots, have greater flexibility and stronger adaptability to complex terrain, and can cross obstacles more easily.

[0003] However, when a legged robot with rigid joints moves forward, it generates a large impact by contacting the ground with its feet, resulting in significant energy loss, which reduces the movement efficiency of the bipedal robot and weakens its endurance. Summary of the Invention

[0004] The purpose of this disclosure is to provide a motion state switching device and a bipedal robot, which enables the bipedal robot to quickly switch the working state of the motion state switching device under different motion states.

[0005] One aspect of this disclosure provides a motion state switching device, including a housing, a movable member, and a limiting mechanism; the housing is provided with a sliding channel and a receiving cavity, the sliding channel extending along a predetermined direction; at least a portion of the movable member is slidably disposed within the sliding channel along the predetermined direction, and at least a portion of the movable member is disposed within the receiving cavity; the limiting mechanism is disposed within the receiving cavity to restrict the movement of the movable member within the sliding channel;

[0006] The motion state switching device includes a first working state and a second working state. In the first working state, the limiting mechanism and the movable part are separated. In the second working state, the limiting mechanism and the movable part are in contact to keep the relative position of the movable part and the sliding channel fixed.

[0007] In one embodiment, the movable element includes a rigid body and an elastic body; at least a portion of the rigid body is slidably disposed within the sliding channel along the predetermined direction, and at least a portion of the rigid body is disposed within the receiving cavity;

[0008] The elastic body is sleeved on the rigid body along the predetermined direction, and the elastic body is capable of telescopic movement relative to the rigid body along the predetermined direction; the outer surfaces of the elastic body and the shell abut against each other in the predetermined direction.

[0009] In the first working state, the limiting mechanism and the rigid body are separated; in the second working state, the limiting mechanism and the rigid body are in contact, so that the relative position of the rigid body and the sliding channel is fixed.

[0010] In one of the embodiments, the limiting mechanism comprises a first limiting part, and a second limiting part is correspondingly arranged on the rigid body; in the first working state, the first limiting part and the second limiting part are separated; in the second working state, the first limiting part and the second limiting part are in limiting cooperation.

[0011] In one of the embodiments, the second limiting part comprises a limiting groove, which is an annular groove or a straight groove extending perpendicularly to the axial direction of the rigid body.

[0012] In one of the embodiments, the limiting mechanism further comprises a limiting driving part connected with the first limiting part, and the limiting driving part is used to drive the first limiting part to move away from or close to the limiting groove.

[0013] When the first working state is switched to the second working state, the limiting driving part drives the first limiting part to move close to the limiting groove; when the second working state is switched to the first working state, the limiting driving part drives the first limiting part to move away from the limiting groove.

[0014] In one of the embodiments, the first limiting part is an arc-shaped member with an opening, and an inner ring of the arc-shaped member is correspondingly provided with a protrusion matched with the limiting groove.

[0015] In one of the embodiments, the first limiting part comprises a temperature sensing part capable of deforming with temperature change; the limiting mechanism further comprises a temperature control part used to adjust the temperature in the accommodating cavity, so that the temperature sensing part deforms.

[0016] In the first working state, the temperature control part adjusts the temperature in the accommodating cavity to a first temperature, and the temperature sensing part deforms to separate the first limiting part and the second limiting part; in the second working state, the temperature control part adjusts the temperature in the accommodating cavity to a second temperature, and the temperature sensing part deforms to limit the cooperation of the first limiting part and the second limiting part.

[0017] The technical scheme of the motion state switching device provided by the embodiments of the present disclosure can have the following beneficial effects:

[0018] The movement and limiting of the movable member between the sliding channels are realized by the separation and contact between the limiting mechanism and the movable member. When the movable member moves in the sliding channel, the movement state switching device is in the first working state, and when the movable member is limited in the sliding channel, the movement state switching device is in the second working state. In this way, the movement state switching device is switched between different working states, and the switching efficiency is high, and the structure is simple and the cost is low.

[0019] Another aspect of the embodiments of the present disclosure provides a biped robot, comprising:

[0020] A pelvis part and two groups of leg mechanisms movably arranged on the pelvis part;

[0021] The leg mechanism comprises:

[0022] A hip joint part, and the pelvis part is rotatably connected;

[0023] A thigh part, rotatably connected around a first direction and the hip joint part;

[0024] A shank part, rotatably connected around the first direction and the thigh part;

[0025] A foot part, rotatably connected with the shank part;

[0026] The movement state switching device in any one of the above embodiments, one end of the housing away from the movable member is rotatably connected with the thigh part or the shank part, and one end of the movable member away from the housing is connected with the foot part; and

[0027] A driving part connected with the hip joint part, the thigh part, the shank part and the movement state switching device, for driving the hip joint part, the thigh part, the shank part and the movement state switching device to rotate.

[0028] In one of the embodiments, the leg mechanism comprises two movement state switching devices, the driving part comprises two switching device driving parts fixed to the thigh part or the shank part, the two switching device driving parts are respectively connected with the two movement state switching devices, and the switching device driving parts are used for driving the movement state switching devices to rotate around the first direction;

[0029] When the two switching device driving parts respectively drive the two movement state switching devices to rotate around the first direction at different rotating speeds, the two movement state switching devices rotate around a second direction perpendicular to the axial direction of the movable member while rotating around the first direction.

[0030] In one of the embodiments, the biped robot further comprises two second transmission parts, which are respectively connected between the two switching device driving parts and the two motion state switching devices, and the two switching device driving parts drive the two motion state switching devices to rotate through the two second transmission parts.

[0031] In one of the embodiments, the second transmission part comprises a driving wheel, a driven wheel and an open steel belt, the open steel belt is sleeved on the driving wheel and the driven wheel, the driving wheel is connected with the switching device driving part, and the driven wheel is connected with the shell of the motion state switching device.

[0032] In one of the embodiments, the driven wheel comprises a driven wheel main body and a driven wheel rotating shaft, one end of the driven wheel rotating shaft is fixedly connected with the driven wheel main body, and the other end is rotatably connected with the thigh part.

[0033] In one of the embodiments, the driven wheel comprises a driven wheel main body and a driven wheel rotating connecting part, the driven wheel rotating connecting part is arranged close to the outer edge of the driven wheel main body, and the shell of the motion state switching device is hingedly connected with the driven wheel rotating connecting part.

[0034] In one of the embodiments, the two motion state switching devices are symmetrically arranged relative to the shank part.

[0035] In one of the embodiments, the shell of the motion state switching device comprises a connecting part and a main body part, one end of the connecting part is connected with the thigh part or the shank part, and the other end is connected with the main body part; the sliding channel and the accommodating cavity are communicated, the sliding channel is arranged in the connecting part, and the accommodating cavity is arranged in the main body part.

[0036] In one of the embodiments, the hip joint part comprises a first hip joint part and a second hip joint part; the first hip joint part is rotatably connected with the pelvic part around a third direction, and the second hip joint part is rotatably connected with the first hip joint part around a fourth direction.

[0037] The cross-sectional area of the second hip joint part along the fourth direction gradually decreases, one end of the second hip joint part with a larger area in the fourth direction is connected with the first hip joint part, and the other end with a smaller area is connected with the thigh part.

[0038] In one of the embodiments, the driving part comprises a shank driving part, which is fixedly arranged in the thigh part and connected with the shank part, and is used for driving the shank part to rotate around the first direction; the shank driving part is arranged close to the second hip joint part.

[0039] In one of the embodiments, the driving part comprises:

[0040] A first hip joint driving part is fixedly arranged on the pelvis part and connected with the first hip joint part, and is used for driving the first hip joint part to rotate around the third direction;

[0041] A second hip joint driving part is fixedly arranged on the first hip joint part and connected with the second hip joint part, and is used for driving the second hip joint part to rotate around the fourth direction.

[0042] In one of the embodiments, the driving part includes a thigh driving part fixedly arranged on the second hip joint part and connected with the thigh part, and is used for driving the thigh part to rotate around the first direction.

[0043] The thigh driving part includes a driving shell and a driving assembly arranged in the driving shell, the driving shell is arranged near the smaller end of the second hip joint part, and the second hip joint part and the driving shell are integrally manufactured.

[0044] In one of the embodiments, the driving part includes:

[0045] A calf driving part fixedly arranged on the thigh part and connected with the calf part, and is used for driving the calf part to rotate around the first direction.

[0046] A switching device driving part fixedly arranged on the thigh part and connected with the motion state switching device, and is used for driving the motion state switching device to rotate around the first direction.

[0047] In one of the embodiments, the driving part includes a calf driving part fixedly arranged on the thigh part and connected with the calf part, and is used for driving the calf part to rotate around the first direction.

[0048] The biped robot further includes a first transmission part connected between the calf driving part and the calf part, and the calf driving part drives the calf part to rotate through the first transmission part.

[0049] In one of the embodiments, the first transmission part adopts a linkage mechanism.

[0050] The technical scheme of the biped robot provided by the embodiments of the present disclosure can have the following beneficial effects:

[0051] The motion state switching device is arranged in the leg mechanism of the biped robot, so that the leg stiffness parameter of the biped robot can be switched according to the motion state. When the biped robot is in the motion state of walking and slow running, the motion state switching device is in the first working state. When the biped robot is in the motion state of high-speed sprinting, the motion state switching device is in the second working state. The switching efficiency of the motion state switching device is high, and the motion state switching requirement of the biped robot is met.

[0052] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0053] The accompanying drawings, which are included as part of this disclosure, serve to provide further understanding of the present disclosure, and the illustrative embodiments of the present disclosure and their description serve to explain the present disclosure, and do not constitute improper limitations on the present disclosure.

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0055] Figure 1 The structure schematic diagram of the motion state switching device in an embodiment is shown.

[0056] Figure 2 The structure schematic diagram of the biped robot in an embodiment is shown.

[0057] Figure 3 For Figure 2 The structure schematic diagram of the leg mechanism of the biped robot in the embodiment is shown.

[0058] Figure 4 For Figure 3 The exploded schematic diagram of the leg mechanism in the embodiment is shown.

[0059] Wherein: 1 - motion state switching device; 11 - shell; 12 - moving part; 13 - limiting mechanism; 111 - sliding channel; 112 - containing cavity; 121 - rigid body; 122 - elastic body; 131 - first limiting part; 1211 - second limiting part; 1211a - limiting groove; 132 - limiting driving part; 131a - arc-shaped part; 2 - biped robot; 21 - pelvis part; 22 - leg mechanism; 221 - hip joint part; 222 - thigh part; 223 - shank part; 224 - foot part; 225 - driving part; 113 - connecting part; 114 - main body part; 211 - long plate; 212 - short plate; 2211 - first hip joint part; 2212 - second hip joint part; 2211a - side part; 2211b - bottom part; 2251 - first hip joint driving part; 2252 - second hip joint driving part; 2253 - thigh driving part; 2254 - shank driving part; 2221 - long side plate; 2222 - intermediate connecting plate; 23 - first transmission part; 2255 - switching device driving part; 24 - second transmission part; 241 - driving wheel; 242 - driven wheel; 243 - open steel belt; 2441 - driven wheel main body; 2442 - driven wheel rotating shaft; 2443 - driven wheel rotating connecting part. DETAILED DESCRIPTION

[0060] To make the objects, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and do not limit the protection scope of the present disclosure.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. The terms used in the specification of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0062] The biped robot of the present disclosure will be described in detail below with reference to the drawings. The features in the following embodiments and implementation manners can be combined with each other without conflict.

[0063] In an embodiment of the present disclosure, with reference to Figure 1As shown, the motion state switching device 1 comprises a housing 11, a movable member 12 and a limiting mechanism 13. The housing 11 is provided with a sliding channel 111 extending along a set direction and a receiving cavity 112. At least part of the movable member 12 is slidably arranged in the sliding channel 111 along the set direction, and the at least part of the movable member 12 is arranged in the receiving cavity 112. The limiting mechanism 13 is arranged in the receiving cavity 112 and used for limiting the movement of the movable member 12 in the sliding channel 111. The motion state switching device 1 comprises a first working state and a second working state. In the first working state, the limiting mechanism 13 and the movable member 12 are separated. In the second working state, the limiting mechanism 13 and the movable member 12 are in contact, so that the relative position of the movable member 12 and the sliding channel 111 is fixed.

[0064] By the separation and contact between the limiting mechanism 13 and the movable member 12, the movement and limiting of the movable member 12 in the sliding channel 111 are realized. When the movable member 12 moves in the sliding channel 111, the motion state switching device 1 is in the first working state, and when the movable member 12 is limited in the sliding channel 111, the motion state switching device 1 is in the second working state. In this way, the switching between different working states of the motion state switching device 1 is realized, which is high in switching efficiency and low in structure and cost.

[0065] The housing 11 can be provided in a cylindrical shape, a cuboid shape or the like, and the present disclosure does not limit the shape of the housing 11. The sliding channel 111 and the receiving cavity 112 are arranged in the housing 11.

[0066] The sliding channel 111 extends along a set direction, and the set direction can be the axial direction of the housing 11. The sliding channel 111 can be provided in an elongated columnar shape, and correspondingly, the movable member 12 can be provided in an elongated rod-shaped structural member, and the set direction is also the axial extension direction of the movable member 12. In this way, the movable member 12 is facilitated to slide in the sliding channel 111 in a directional manner, and the sliding channel 111 can also limit the movement direction of the movable member 12. The sliding channel 111 can be coaxially arranged with the housing 11.

[0067] The receiving cavity 112 can be provided in a cylindrical shape, a cuboid shape or the like. Specifically, the receiving cavity 112 can adopt the same shape as the housing 11, for example, the housing 11 is provided in a cylindrical shape, and the receiving cavity 112 is also provided in a cylindrical shape. The receiving cavity 112 and the housing 11 are coaxially arranged, which is convenient for space layout and makes full use of the internal space of the housing 11.

[0068] The part of the movable member 12 arranged in the receiving cavity 112 can be in contact with or separated from the limiting mechanism 13 arranged in the receiving cavity 112. The sliding channel 111 and the receiving cavity 112 can be communicated, and at least part of the movable member 12 is arranged in the sliding channel 111 and the receiving cavity 112.

[0069] In the first working state, there is a distance between the limiting mechanism 13 and the movable part 12, allowing the movable part 12 to slide back and forth within the sliding channel 111. In the second working state, the limiting mechanism 13 and the movable part 12 are in contact, which can be abutment, snap-fit, or other engaging contact. The movable part 12 is fixed and limited by the limiting mechanism 13, preventing it from moving within the sliding channel 111. Thus, the motion state switching device 1 switches between different working states.

[0070] In this embodiment, refer to Figure 1 As shown, the movable component 12 includes a rigid body 121 and an elastic body 122. At least a portion of the rigid body 121 is slidably disposed within the sliding channel 111 along a predetermined direction, and at least a portion of the rigid body 121 is disposed within the receiving cavity. The elastic body 122 is sleeved on the rigid body 121 along a predetermined direction, and the elastic body 122 is capable of telescoping relative to the rigid body 121 along the predetermined direction. The elastic body 122 and the outer surface of the housing 11 abut against each other in the predetermined direction. In the first operating state, the limiting mechanism 13 is separated from the rigid body 121. In the second operating state, the limiting mechanism 13 is in contact with the rigid body 121 to keep the relative position of the rigid body 121 and the sliding channel 111 fixed.

[0071] The rigid body 121 slides within the sliding channel 111 in a predetermined direction. The elastic body 122 abuts against the outer surface of the housing 11 in a predetermined direction. When the housing 11 compresses the elastic body 122, the length of the elastic body 122 shortens, and the length of the rigid body 121 within the sliding channel 111 lengthens. When the housing 11 is pushed back to its original position by the elastic body 122, the length of the elastic body 122 lengthens, and the length of the rigid body 121 within the sliding channel 111 shortens.

[0072] In the first working state, the limiting mechanism 13 and the rigid body 121 are at a distance, and the rigid body 121 moves within the sliding channel 111. This movement can be a reciprocating motion within a fixed stroke range. The elastic body 122 is compressed by the housing 11 or pushed back to its original position as the rigid body 121 moves, and the length of the elastic body 122 shortens or lengthens. In the second working state, the limiting mechanism 13 and the rigid body 121 are in contact, and the limiting mechanism 13 restricts the position of the rigid body 121 within the sliding channel 111, preventing it from moving within the sliding channel 111. The length of the elastic body is a fixed value.

[0073] Thus, in the first working state, the length of the elastic body 122 changes, resulting in different energy states for the motion state switching device 1. In the second working state, the length of the elastic body 122 is fixed, thus fixing the energy state of the motion state switching device 1.

[0074] The extending direction of the elastic body 122 is the same as the extending direction of the rigid body 121, and the elastic body 122 is sleeved on the rigid body 121, so that the elastic body 122 stretches and contracts along the set direction, and the elastic body 122 is prevented from bending and deviating from the set direction.

[0075] In some embodiments, the rigid body 121 can be an elongated rigid rod, such as a steel rod. The elastic body 122 can be a high-strength spring.

[0076] A linear bearing can be arranged in the sliding channel 111 and cooperates with the rigid body 121 to facilitate the sliding movement of the rigid body 121 in the sliding channel 111.

[0077] In some embodiments, referring to Figure 1 As shown, the limiting mechanism 13 includes a first limiting part 131, and the rigid body 121 is correspondingly provided with a second limiting part 1211. In the first working state, the first limiting part 131 and the second limiting part 1211 are separated. In the second working state, the first limiting part 131 and the second limiting part 1211 are in limiting cooperation. In this way, the movement and fixation of the rigid body 121 in the sliding channel 111 are realized through the separation and limiting cooperation between the first limiting part 131 and the second limiting part 1211, so that the working state of the movement state switching device 1 is changed.

[0078] Specifically, in some embodiments, the first limiting part 131 is arranged as a clamping device, and the limiting mechanism 13 further includes a clamping driving part, which can be a hydraulic drive. The second limiting part 1211 is a part of the circumferentially extending outer surface region of the rigid body 121. In the first working state, the clamping device and the outer surface of the rigid body 121 have a gap. In the second working state, the clamping driving part drives the movement of the clamping device, and the clamping device and the corresponding outer surface region of the rigid body 121 abut, for example, the clamping device tightly clamps the circumferential outer surface of the rigid body 121. When the pressure between the clamping device and the outer surface of the rigid body 121 is large enough, sufficient friction is generated between the clamping device and the outer surface of the rigid body 121, so that the rigid body 121 and the clamping device cannot slide relative to each other, and the position of the rigid body 121 is limited.

[0079] In other embodiments, referring to Figure 1 As shown, the second limiting part 1211 includes a limiting groove 1211a, which is an annular groove or a straight groove extending perpendicular to the axial direction of the rigid body.

[0080] In this embodiment, the limiting groove 1211a is an annular groove arranged around the rigid body 121.

[0081] In other embodiments, the straight slot and the axis of the rigid body 121 have a distance in the radial direction of the rigid body 121. The rigid body 121 can be provided with two straight slots, symmetrically arranged on both sides of the axis of the rigid body 121.

[0082] The first limiting part 131 and the limiting slot 1211a abut at least one of the two side walls in the axial direction of the rigid body 121, thereby achieving limiting.

[0083] Further, referring to Figure 1 As shown in the figure, the limiting mechanism 13 further includes a limiting driving part 132 connected with the first limiting part 131, and the limiting driving part 132 is used to drive the first limiting part 131 to move away from or close to the limiting slot 1211a. When the first working state is switched to the second working state, the limiting driving part 132 drives the first limiting part 131 to move close to the limiting slot 1211a. When the second working state is switched to the first working state, the limiting driving part 132 drives the first limiting part 131 to move away from the limiting slot 1211a. In this way, by driving the first limiting part 131 to move through the limiting driving part 132, whether the limiting cooperation between the first limiting part 131 and the limiting slot 1211a is realized or not is realized. The limiting driving part 132 drives the first limiting part 131 to move close to the limiting slot 1211a, until the first limiting part 131 and the limiting slot 1211a abut and cooperate. The limiting driving part 132 drives the first limiting part 131 to move away from the limiting slot 1211a, until the first limiting part 131 and the limiting slot 1211a are completely separated, and the first limiting part 131 and the rigid body 121 have a distance, and the first limiting part 131 does not interfere with the movement of the rigid body 121.

[0084] In some embodiments, the limiting driving part 132 can adopt a lead screw stepper motor, which has small volume and high control precision.

[0085] In this embodiment, referring to Figure 1As shown, the first limiting part 131 is an arc-shaped member 131a with an opening, and the inner ring of the arc-shaped member 131a is provided with a protrusion matching the limiting groove 1211a. The arc-shaped member 131a is provided with an opening, which facilitates the separation of the arc-shaped member 131a from the limiting groove 1211a, and after separation, the arc-shaped member 131a is at a certain distance from the rigid body 121. In some embodiments, the arc-shaped member 131a can be a symmetrical U-shaped member, and the arc-shaped member 131a includes two protrusions symmetrically arranged on the inner ring of the arc-shaped member 131a near the two ends of the opening of the arc-shaped member 131a. In other embodiments, the protrusion is an annular protrusion arranged around the inner ring of the arc-shaped member 131a. The thickness of the protrusion in the axial direction of the rigid body 121 matches the width of the limiting groove 1211a in the axial direction of the rigid body 121. In the first working state, the protrusion is separated from the limiting groove 1211a, and in the second working state, the protrusion is inserted into the limiting groove 1211a, and the protrusion and the limiting groove 1211a are in abutting engagement in the axial direction of the rigid body 121.

[0086] It can be understood that the two ends of the arc-shaped member 131a are provided with limiting driving parts 132, and the two limiting driving parts 132 simultaneously drive the arc-shaped member 131a to move close to or away from the limiting groove 1211a. The movement direction of the arc-shaped member 131a can be the central axis direction of the arc-shaped member 131a, or the radial direction of the rigid body 121.

[0087] In still other embodiments, the first limiting part 131 includes a temperature sensing part capable of deforming with temperature changes. The limiting mechanism further includes a temperature control part for adjusting the temperature in the accommodation cavity, so that the temperature sensing part deforms. In the first working state, the temperature control part adjusts the temperature in the accommodation cavity 112 to a first temperature, and the temperature sensing part deforms to separate the first limiting part 131 from the second limiting part 1211. In the second working state, the temperature control part adjusts the temperature in the accommodation cavity 112 to a second temperature, and the temperature sensing part deforms to limit the cooperation of the first limiting part 131 and the second limiting part 1211. In this way, the first limiting part 131 does not need to move, the required space is small, and the structure is more compact. Specifically, the temperature sensing part is provided in a strip shape, and the second limiting part 1211 is provided as a limiting groove 1211a. When the temperature changes, the length of the temperature sensing part changes significantly, and the temperature sensing part can be separated from or in abutting engagement with the limiting groove 1211a.

[0088] The temperature sensing part can be made of bimetallic strips, shape memory polymers, or the like. The temperature control part can include a resistor and a power supply. The power supply provides different currents to the resistor, so that the resistor generates different amounts of heat, thereby changing the temperature in the accommodation cavity 112.

[0089] In bipedal robots, energy loss occurs during walking and slow running movements due to foot contact with the ground. Reducing this energy loss can extend the robot's range and improve energy efficiency. Decreasing the leg stiffness parameters of the bipedal robot provides a cushioning effect during foot contact, thus reducing energy loss. However, for high-speed sprinting, a higher stiffness parameter is required. Therefore, setting the leg stiffness parameters to adapt to different movement states allows for both energy conservation and high-speed sprinting.

[0090] In related technologies, pneumatic devices or flexible cable devices are used to modify the stiffness parameters of the legs of bipedal robots. However, pneumatic devices, driven by cylinders, have a slow response and weak stiffness, only suitable for walking and slow running, and cannot achieve high-speed sprinting. Flexible cable devices, on the other hand, would generate a large reaction force on other components of the bipedal robot's legs during high-speed sprinting, making them unsuitable as well.

[0091] Based on this, in another embodiment of this disclosure, referring to Figure 1 and Figure 2 As shown, a bipedal robot 2 is also provided, including a pelvic section 21 and two sets of leg mechanisms 22 movably disposed on the pelvic section 21. The leg mechanism 22 includes a hip joint 221, a thigh 222, a lower leg 223, a foot 224, a motion state switching device 1 in any of the above embodiments, and a drive component 225. The hip joint 221 and the pelvic section 21 are rotatably connected. The thigh 222 is rotatably connected to the hip joint 221 about a first direction x. The lower leg 223 is rotatably connected to the thigh 222 about a first direction x. The foot 224 and the lower leg 223 are rotatably connected. The end of the housing 11 of the motion state switching device 1 away from the movable member 12 is rotatably connected to either the thigh 222 or the lower leg 223, and the end of the movable member 12 away from the housing 11 is connected to the foot. The drive component 225 is connected to the hip joint 221, thigh 222, lower leg 223 and motion state switching device 1, and is used to drive the hip joint 221, thigh 222, lower leg 223 and motion state switching device 1 to rotate.

[0092] The pelvic section 21 of the bipedal robot 2 is used to fix two sets of leg mechanisms 22. In some embodiments, the bipedal robot 2 also includes a torso connected to the pelvic section 21.

[0093] Two sets of leg mechanisms 22 are connected to the pelvic part 21 respectively. The bipedal robot 2 realizes actions and movement states such as standing, walking by pushing off the ground, running slowly, and sprinting at high speed through the two sets of leg mechanisms 22.

[0094] The hip joint portion 221 is connected between the thigh portion 222 and the pelvis portion 21, the thigh portion 222 and the lower leg portion 223 are connected, the lower leg portion 223 and the foot portion 224 are connected, and the motion state switching device 1 is connected between the thigh portion 222 or the lower leg portion 223 and the foot portion 224.

[0095] The driving member 225 drives the hip joint portion 221 to rotate with respect to the pelvis portion 21, and generates an effect of driving the entire hip joint portion 221, the thigh portion 222, the lower leg portion 223, the motion state switching device 1, and the foot portion 224 to rotate with respect to the pelvis portion 21.

[0096] The driving member 225 drives the thigh portion 222 to rotate with respect to the hip joint portion 221 around the first direction x, and generates an effect of driving the entire thigh portion 222, the lower leg portion 223, the motion state switching device 1, and the foot portion 224 to rotate with respect to the hip joint portion 221 around the first direction x.

[0097] The driving member 225 drives the lower leg portion 223 to rotate with respect to the thigh portion 222 around the first direction x, and generates an effect of driving the entire lower leg portion 223, the motion state switching device 1, and the foot portion 224 to rotate with respect to the thigh portion 222 around the first direction x, or driving the entire lower leg portion 223 and the foot portion 224 to rotate with respect to the thigh portion 222 around the first direction x.

[0098] The driving member 225 drives the motion state switching device 1 to rotate with respect to the thigh portion 222 or the lower leg portion 223, and generates an effect of driving the entire lower leg portion 223, the motion state switching device 1, and the foot portion 224 to rotate with respect to the thigh portion 222, or driving the entire motion state switching device 1 and the foot portion 224 to rotate with respect to the lower leg portion 223.

[0099] In the embodiment of the present disclosure, the driving member 225 adopts a plurality of motors to drive each component of the leg mechanism 22, respectively.

[0100] The first direction x is perpendicular to a plane formed by the thigh portion 222 and the lower leg portion 223. In the illustrated embodiment, the first direction x is a left-right direction of the pelvis portion 21. Figure 2 The third direction y is perpendicular to the first direction x, and in the illustrated embodiment, is a front-rear direction of the pelvis portion 21. Figure 2 The third direction y is perpendicular to the first direction x, and in the illustrated embodiment, is a front-rear direction of the pelvis portion 21.

[0101] This disclosure integrates a motion state switching device 1 into the leg mechanism 22 of a bipedal robot 2, enabling the leg stiffness parameters of the bipedal robot 2 to switch according to the motion state. When the bipedal robot 2 is in a walking or slow running motion, the motion state switching device 1 is in a first working state. When the bipedal robot 2 is in a high-speed sprint motion, the motion state switching device 1 is in a second working state. The motion state switching device 1 has high switching efficiency, meeting the motion state switching requirements of the bipedal robot 2.

[0102] Specifically, in this embodiment, the movable component 12 includes a rigid body 121 and an elastic body 122. The end of the housing 11 of the motion state switching device 1 away from the rigid body 121 is connected to the thigh portion 222, and the end of the rigid body 121 away from the housing 11 is connected to the foot portion 224. The connection point is positioned closer to the heel portion than the toe portion of the foot portion 224. The end of the elastic body away from the housing 11 is connected to either the rigid body 121 or the foot portion 224.

[0103] Furthermore, referring to Figure 1 and Figure 3 As shown, the housing 11 includes a connecting portion 113 and a main body 114. One end of the connecting portion 113 is connected to the thigh portion 222 or the lower leg portion 223 (thigh portion 222 in this embodiment), and the other end is connected to the main body 114. A sliding channel 111 communicates with a receiving cavity 112. The sliding channel 111 is located in the connecting portion 113, and the receiving cavity 112 is located in the main body 114. This structure of the housing 11 facilitates the installation and connection of the motion state switching device 1 in the bipedal robot 2. In this embodiment, the connecting portion 113 is a long rod, the main body 114 is approximately cylindrical, and the circumferential surface of the main body 114 has two opposing planes. The sliding channel 111 and the connecting portion 113 are coaxially arranged, and the receiving cavity 112 and the main body 114 are coaxially arranged.

[0104] When the bipedal robot 2 is walking or running at a slow speed, the motion state switching device 1 is in its first working state. The elastic body 122 of the motion state switching device 1 extends and retracts, reducing the stiffness parameter of the device. The elastic body 122, which extends and retracts between the shell 11 and the foot 224, provides cushioning for the movement of the foot 224, realizing the conversion between stored and released energy, reducing the energy loss of the bipedal robot 2, and extending its range. When the bipedal robot 2 is sprinting at high speed, the motion state switching device 1 is in its second working state. The length of the elastic body 122 is fixed, and the shell 11 and the foot 224 are connected by a rigid body 121. The stiffness parameter of the motion state switching device 1 increases to meet the stiffness requirements of high-speed sprinting.

[0105] With respect to the specific structure of the biped robot 2, in the present embodiment, the pelvic bone portion 21 includes two long plates 211 extending along the first direction x and a short plate 212 connected between the two long plates 211, the short plate 212 dividing the space between the two long plates 211 into two.

[0106] The biped robot 2 includes two hip joint portions 221.

[0107] Referring to Figs. 1 and 2, Figure 2 and Figure 3 the hip joint portion 221 includes a first hip joint portion 2211 and a second hip joint portion 2212. The first hip joint portion 2211 is rotatably connected around the third direction y and the pelvic bone portion 21, and the second hip joint portion 2212 is rotatably connected around the fourth direction z and the first hip joint portion 2211.

[0108] Specifically, referring to Figs. 1 and 2, Figure 2 and Figure 4 the first hip joint portion 2211 includes two opposite side portions 2211a and a bottom portion 2211b connected between the two side portions 2211a. The two first hip joint portions 2211 are correspondingly arranged in the two spaces between the two long plates 211 of the pelvic bone portion 21. The two side portions 2211a of the first hip joint portion 2211 are rotatably connected with the two long plates 211 of the pelvic bone portion 21, respectively.

[0109] The second hip joint portion 2212 gradually decreases in cross-sectional area along the fourth direction z, and the end of the second hip joint portion 2212 with a larger area along the fourth direction z is connected with the first hip joint portion 2211, and the end with a smaller area is connected with the thigh portion 222. The second hip joint portion 2212 is arranged to gradually decrease in cross-sectional area from top to bottom along the fourth direction z, which facilitates providing more space for the movement of the lower thigh portion 222. The fourth direction z is perpendicular to the plane xoy formed by the first direction x and the third direction y.

[0110] Referring to Figs. 1 and 2, Figure 2 and Figure 3 the driving member 225 includes a first hip joint driving member 2251 and a second hip joint driving member 2252.

[0111] The first hip joint driving member 2251 is fixedly arranged on the pelvic bone portion 21 and connected with the first hip joint portion 2211, and is used to drive the first hip joint portion 2211 to rotate around the third direction y. The first hip joint driving member 2251 is fixedly connected with the long plate 211 of the pelvic bone portion 21, and the output shaft of the first hip joint driving member 2251 is fixedly connected with the side portion 2211a of the first hip joint portion 2211 through the long plate 211, so as to drive the first hip joint portion 2211 to rotate.

[0112] The other side 2211a of the first hip joint part 2211 and the long plate 211 corresponding to the pelvic part 21 can be connected by a bearing to facilitate rotation of the first hip joint part 2211.

[0113] The second hip joint driving part 2252 is fixed to the first hip joint part 2211 and connected to the second hip joint part 2212 to drive the second hip joint part 2212 to rotate around the fourth direction z. The second hip joint driving part 2252 is fixed to the bottom 2211b of the first hip joint part 2211, and an output shaft of the second hip joint driving part 2252 passes through the bottom 2211b and is connected to the second hip joint part 2212 to drive the second hip joint part 2212 to rotate.

[0114] Referring to Figure 2 and Figure 3 The driving part 225 includes a thigh driving part 2253 fixed to the second hip joint part 2212 and connected to the thigh part 222 to drive the thigh part 222 to rotate around the first direction x. The thigh driving part 2253 includes a driving shell and a driving assembly arranged in the driving shell, and the driving shell is arranged near the smaller end of the second hip joint part 2212. The second hip joint part 2212 and the driving shell are integrally manufactured, which can improve the installation efficiency and accuracy.

[0115] The driving part 225 includes a calf driving part 2254 fixed to the thigh part 222 and connected to the calf part 223 to drive the calf part 223 to rotate around the first direction x. The calf driving part 2254 is arranged near the second hip joint part 2212. In order to drive the entire calf part 223 to move, the calf driving part 2254 needs to use a motor with sufficient power, and the mass of the motor is correspondingly larger. Arranging the calf driving part 2254 on the thigh part 222 and near the second hip joint part 2212 can minimize the distance between the calf driving part 2254 and the second hip joint part 2212, which can reduce the inertia of the leg mechanism 22, reduce energy loss, and prolong the endurance of the biped robot 2. Correspondingly, the inertia of the leg mechanism 22 is reduced, which can reduce the required working power of the first hip joint driving part 2251, the second hip joint driving part 2252, and the thigh driving part 2253. The first hip joint driving part 2251, the second hip joint driving part 2252, and the thigh driving part 2253 can select a smaller power motor to reduce costs.

[0116] Referring to Figure 3 and Figure 4As shown in FIG. 2, the thigh part 222 can adopt a frame structure, which is composed of two long side plates 2221 connected by a plurality of middle connecting plates 2222. The plurality of middle connecting plates 2222 divide the space between the two long side plates 2221 into a plurality of parts, which are used to set the driving part 225. In this way, the mass of the thigh part 222 can be greatly reduced. The calf driving part 2254 is set in the space adjacent to the second hip joint part 2212.

[0117] Referring to Figure 2 and Figure 3 As shown in FIG. 2, the biped robot 2 further comprises a first transmission part 23 connected between the calf driving part 2254 and the calf part 223. The calf driving part 2254 drives the calf part 223 to rotate through the first transmission part 23. Since the calf driving part 2254 is set close to the second hip joint part 2212 and has a distance from the calf part 223, the transmission connection between the calf driving part 2254 and the calf part 223 is achieved by setting the first transmission part 23.

[0118] In the embodiment, the first transmission part 23 adopts a linkage mechanism, which can meet the rigidity requirement of the driving structure.

[0119] Further, a shorter first rod is set on the calf driving part 2254, and the calf part 223 is a long rod with an arc. The first rod and the calf part 223 are connected through a second rod, thereby constituting a linkage mechanism.

[0120] Referring to Figures 2 to 4 As shown in FIG. 2, the leg mechanism 22 comprises two motion state switching devices 1, and the driving part 225 comprises two switching device driving parts 2255 fixed to the thigh part 222 or the calf part 223. The two switching device driving parts 2255 are connected with the two motion state switching devices 1 respectively, and the switching device driving part 2255 is used to drive the motion state switching device 1 to rotate around the first direction x. It can be understood that the motion state switching device 1 is roughly in the shape of a long rod, and the switching device driving part 2255 is used to drive the motion state switching device 1 to rotate around the first direction x. Specifically, the switching device driving part 2255 drives the part of the motion state switching device 1 close to the switching device driving part 2255 (the connection position of the switching device driving part 2255) to rotate around the first direction x, and the rest of the motion state switching device 1 swings accordingly.

[0121] In some embodiments, the two switching device driving parts 2255 are fixed to the thigh part 222 and are set as close to the second hip joint part 2212 as possible, thereby reducing the inertia of the leg mechanism 22.

[0122] In the embodiment, the shank driving part 2254, one switching device driving part 2255, and another switching device driving part 2255 are sequentially arranged on the thigh part 222 from the end close to the second hip joint part 2212 to the end away from the second hip joint part 2212. When arranged, the distance between the shank driving part 2254, the two switching device driving parts 2255, and the second hip joint part 2212 is as small as possible, so as to reduce the inertia of the leg mechanism 22.

[0123] The two motion state switching devices 1 are symmetrically arranged relative to the shank part 223, and can balance control the motion of the foot part 224, facilitating the design of the control algorithm.

[0124] Further, the two motion state switching devices 1 are also parallel to each other.

[0125] Referring to FIGS. 1, 2, and 3, Figure 1 and Figure 3 When the two switching device driving parts 2255 respectively drive the two motion state switching devices 1 to rotate at different speeds around the first direction x, the two motion state switching devices 1 rotate around the second direction w perpendicular to the axial direction t of the movable part 12 at the same time. The two motion state switching devices 1 can both realize oblique swinging, for example, swinging to the oblique rear. The two motion state switching devices 1 are no longer symmetric to each other and parallel to each other, and the projections of the two motion state switching devices 1 on the first direction x are in a crossed state.

[0126] The shank part 223 and the movable part 12 are cross-jointed with the foot part 224, so that the foot part 224 can rotate relative to the shank part 223 and the motion state switching device 1 along the first direction x, and can rotate relative to the shank part 223 and the motion state switching device 1 around the direction perpendicular to the plane of the foot part 224.

[0127] In this way, the two switching device driving parts 2255 indirectly drive the foot part 224 to move by driving the motion of the two motion state switching devices 1.

[0128] Referring to FIGS. 1, 2, and 3, Figure 2 and Figure 3 The biped robot 2 further comprises two second transmission parts 24, which are respectively connected between the two switching device driving parts 2255 and the two motion state switching devices 1, and the two switching device driving parts 2255 drive the two motion state switching devices 1 to rotate through the two second transmission parts 24. By arranging the second transmission part 24, the design length of the motion state switching device 1 in the extension direction of the rigid body 121 can be reduced, and the motion angle of the motion state switching device 1 can be increased. The two second transmission parts 24 are respectively arranged on the outer surfaces of the two long side plates 2221 of the thigh part.

[0129] Specifically, referring to FIGS. 1, 2, and 3,Figure 3 and Figure 4 As shown in FIG. 9, the second transmission part 24 comprises a driving wheel 241, a driven wheel 242 and an open steel belt 243, the open steel belt 243 is sleeved on the driving wheel 241 and the driven wheel 242, the driving wheel 241 is connected with the switching device driving part 2255, and the driven wheel 242 is connected with the shell 11 of the motion state switching device 1. The output shaft of the switching device driving part 2255 penetrates through the long side plate 2221 and is connected with the driving wheel 241, so as to drive the driving wheel 241 to rotate, the driving wheel 241 drives the open steel belt 243 to rotate, and then drives the driven wheel 242 to rotate, the driven wheel 242 drives the shell 11 to rotate around the first direction x, and correspondingly, drives the motion state switching device 1 to rotate around the first direction x. Similarly, it can be understood that the motion state switching device 1 is roughly in the shape of a long rod, and the driven wheel 242 drives the motion state switching device 1 to rotate around the first direction x, specifically, the part of the motion state switching device 1 close to the driven wheel 242 (the connection between the shell 11 and the driven wheel 242) rotates around the first direction x, and the rest of the motion state switching device 1 swings.

[0130] The open steel belt 243 is adopted in the present disclosure, so as to meet the strength requirement of the transmission structure.

[0131] Referring to FIG. 9, Figure 4 As shown in FIG. 9, the driven wheel 242 comprises a driven wheel body 2441 and a driven wheel rotating shaft 2442, one end of the driven wheel rotating shaft 2442 is fixedly connected with the driven wheel body 2441, and the other end is rotatably connected with the thigh part 222. In this way, the driven wheel realizes both fixation and rotation.

[0132] The driven wheel 242 further comprises a driven wheel rotating connecting part 2443, which is arranged close to the outer edge of the driven wheel body 2441, and the shell 11 of the motion state switching device 1 is hinged with the driven wheel rotating connecting part 2443. In this way, the driven wheel 242 drives the shell 11 to rotate.

[0133] In the present embodiment, the hinge between the shell 11 and the driven wheel rotating connecting part 2443 is a ball joint, so that the shell 11 can rotate around the first direction x and the second direction w which is perpendicular to the axial direction t of the movable part 12.

[0134] The actual operation process of the biped robot 2 is as follows:

[0135] The first hip joint driving part 2251 drives the first hip joint part 2211 to rotate around the third direction y, that is, the first hip joint driving part 2251 drives the leg mechanism 22 as a whole to rotate around the third direction y except for the first hip joint driving part 2251, so as to realize the effect that the leg mechanism 22 of the biped robot 2 opens outward, which is similar to the human leg being lifted or lowered horizontally to the left side or right side of the body.

[0136] The second hip joint driving part 2252 drives the second hip joint part 2212 to rotate around the fourth direction z, that is, the second hip joint driving part 2252 drives the leg mechanism 22 as a whole to rotate around the fourth direction z except for the first hip joint driving part 2251 and the first hip joint part 2211, so as to realize the opening of the biped robot 2 relative to the pelvis part 21 around the fourth direction z, which is similar to the rotation of the human leg relative to the upper body along the vertical direction to the side.

[0137] The thigh driving part 2253 drives the thigh part 222 to rotate around the first direction x, that is, the thigh driving part 2253 drives the thigh part 222, the calf part 223, the motion state switching device 1, the foot part 224, and other components arranged on the thigh part 222 and the calf part 223 to rotate around the first direction x, so as to realize the pitching motion of the thigh part 222 of the biped robot 2, which is similar to the action of lifting the leg of the human, so that the thigh part approaches and moves away from the front of the upper body.

[0138] The calf driving part 2254 drives the calf part 223 to rotate around the first direction x, that is, the calf driving part 2254 drives the calf part 223 and the foot part 224 to rotate around the first direction x. At the same time, the rotation of the foot part 224 drives the motion state switching device 1 to rotate around the first direction x relative to the driven wheel rotation shaft 2442. Alternatively, the two switching device driving parts 2255 simultaneously drive the two motion state switching devices 1 to rotate around the first direction x at the same speed as the calf part 223. In this way, the motion of lifting and lowering the calf part 223 of the biped robot 2 upward and backward is realized, which is similar to the action of the human heel hooking, so that the calf part approaches or moves away from the hip part.

[0139] The two switching device driving parts 2255 simultaneously drive the two motion state switching devices 1 to rotate around the first direction x at different speeds from the calf part 223, so as to drive the foot part 224 to rotate around the first direction x, thereby realizing the lifting action of the biped robot 2. In this way, when the foot part 224 of the biped robot 2 contacts the ground, the rotation of the foot part 224 around the first direction x makes part of the foot part 224 contact the ground, for example, the tip of the foot part or the heel of the foot part, thereby realizing the action of advancing by pushing the ground, which is the basic action for realizing the motion states of pushing-ground walking, slow running, high-speed sprinting, etc.

[0140] When the bipedal robot 2 is walking and running slowly, the motion state switching device 1 is in its first working state. The motion principle of the bipedal robot 2 during walking and running is as follows: First, the foot 224 of the bipedal robot 2 lands from the air. The foot 224 rotates around the first direction x, so that the toe part contacts the ground, realizing the landing. The foot 224 continues to rotate around the first direction x, and the heel part continuously moves closer to the ground, so that the distance between the heel part and the thigh 222 increases. The elastic body 122 of the motion state switching device 1 extends and stores energy. Then, while the toe part is still in contact with the ground, the foot 224 rotates in the opposite direction around the first direction x, and the heel part gradually moves away from the ground, realizing the push-off. The distance between the heel part and the thigh 222 shortens, and the energy stored in the elastic body 122 is released, providing part of the power required for the bipedal robot 2 to push forward. Finally, the thigh 222 lifts up, and the lower leg 223 hooks back, so that the leg mechanism 22 achieves complete lift-off. The thigh 222 and lower leg 223 continue to rotate around the first direction x, realizing a forward step. The two leg mechanisms 22 of the bipedal robot 2 alternately repeat the above process, enabling the bipedal robot 2 to move forward.

[0141] When the bipedal robot 2 is sprinting at high speed, the motion state switching device 1 is in the second working state. The thigh 222 and the foot 224 are connected by a rigid body 121, which enhances the rigidity and increases the response frequency of the foot 224. The thigh 222, the lower leg 223 and the foot 224 rotate at high speed around the first direction x, and quickly and repeatedly perform landing and pushing-off actions to achieve high-speed sprinting.

[0142] Two switching device drive units 2255 respectively drive two motion state switching devices 1 to rotate around the first direction x at different speeds, thereby causing the feet 224 to rotate around a direction perpendicular to the plane of the feet 224, so that the toes are close together and the heels are separate, or the heels are close together and the toes are separate, or the toes simultaneously turn to one side and the heels simultaneously turn to the other side. In this way, the bipedal robot 2 can turn during movement.

[0143] In the description of this disclosure, it should be understood that the terms "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0144] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an indicated number of technical features. Thus, features defined with "first", "second" etc. can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly specified and limited.

[0145] In the present disclosure, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0146] In the present disclosure, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0147] It should be noted that when an element is referred to as "fixed to", "provided to", "fixed to" or "installed to" another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. Further, when an element is considered to be "fixedly connected" to another element, the two can be fixed in a detachable manner or fixed in a non-detachable manner, such as sleeving, clamping, integral forming, welding, etc., which can be realized in traditional technology and will not be repeated here.

[0148] The technical features of the above embodiments can be combined in any way. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present disclosure.

[0149] The above embodiments only express several implementation manners of the present disclosure, which are described in a more specific and detailed manner, but cannot be understood as a limitation on the scope of the patent. It should be noted that, for those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present disclosure, which are all within the protection scope of the present disclosure.

Claims

1. A motion state switching device, characterized by comprising: include: The housing has a sliding channel and a receiving cavity, wherein the sliding channel extends along a predetermined direction; The movable component, at least a portion of which is slidably disposed within the sliding channel along the set direction, and at least a portion of which is disposed within the receiving cavity; A limiting mechanism, disposed within the receiving cavity, is used to restrict the movement of the movable member within the sliding channel; The motion state switching device includes a first working state and a second working state. In the first working state, the limiting mechanism and the movable part are separated. In the second working state, the limiting mechanism and the movable part are in contact to keep the relative position of the movable part and the sliding channel fixed. The movable component includes a rigid body and an elastic body; at least a portion of the rigid body is slidably disposed within the sliding channel along the predetermined direction, and at least a portion of the rigid body is disposed within the receiving cavity; The elastic body is sleeved on the rigid body along the predetermined direction, and the elastic body is capable of telescopic movement relative to the rigid body along the predetermined direction; the outer surfaces of the elastic body and the shell abut against each other in the predetermined direction. In the first working state, the limiting mechanism and the rigid body are separated; in the second working state, the limiting mechanism and the rigid body are in contact, so that the relative position of the rigid body and the sliding channel remains fixed.

2. The motion state switching apparatus according to claim 1, wherein The limiting mechanism includes a first limiting part, and a second limiting part is correspondingly provided on the rigid body; in the first working state, the first limiting part and the second limiting part are separated; in the second working state, the first limiting part and the second limiting part are engaged in a limiting cooperation.

3. The motion state switching apparatus according to claim 2, wherein The second limiting part includes a limiting groove, which is an annular groove or a straight groove extending perpendicular to the axial direction of the rigid body.

4. The motion state switching apparatus according to claim 3, wherein The limiting mechanism further includes a limiting drive unit connected to the first limiting part, the limiting drive unit being used to drive the first limiting part to move away from or closer to the limiting groove; When the first working state is switched to the second working state, the limit driving unit drives the first limit part to move closer to the limit groove; when the second working state is switched to the first working state, the limit driving unit drives the first limit part to move away from the limit groove.

5. The motion state switching apparatus according to claim 3, wherein The first limiting part is an arc-shaped part with an opening, and the inner ring of the arc-shaped part is provided with a protrusion that matches the limiting groove.

6. The motion state switching apparatus according to claim 2, wherein The first limiting part includes a temperature sensing part that can deform with temperature changes; the limiting mechanism also includes a temperature control part for adjusting the temperature inside the receiving cavity so that the temperature sensing part deforms. In the first working state, the temperature control unit adjusts the temperature inside the receiving cavity to a first temperature, and the temperature sensing unit deforms until the first limiting part and the second limiting part separate; in the second working state, the temperature control unit adjusts the temperature inside the receiving cavity to a second temperature, and the temperature sensing unit deforms until the first limiting part and the second limiting part are in a limiting engagement.

7. A biped robot characterized by comprising: include: The pelvic region and two sets of leg mechanisms movably disposed in the pelvic region; The leg mechanism includes: The hip joint portion and the pelvic portion are rotatably connected; a thigh part rotatably connected with the hip joint part around the first direction; a shank part rotatably connected with the thigh part around the first direction; a foot part rotatably connected with the shank part; The motion state switching device according to any one of claims 1 to 6, wherein the housing is rotatably connected with the thigh part or the shank part at an end away from the movable part, and the movable part is connected with the foot part at an end away from the housing; and a driving part connected with the hip joint part, the thigh part, the shank part and the motion state switching device, for driving the hip joint part, the thigh part, the shank part and the motion state switching device to rotate.

8. The biped robot according to claim 7, wherein The leg mechanism comprises two motion state switching devices, and the driving part comprises two switching device driving parts fixed to the thigh part or the shank part, the two switching device driving parts being connected with the two motion state switching devices respectively, and the switching device driving parts being used for driving the motion state switching devices to rotate around the first direction; When the two switching device driving parts drive the two motion state switching devices to rotate around the first direction at different rotating speeds respectively, the two motion state switching devices rotate around a second direction perpendicular to the axial direction of the movable part while rotating around the first direction.

9. The biped robot according to claim 8, wherein The biped robot further comprises two second transmission parts connected between the two switching device driving parts and the two motion state switching devices respectively, and the two switching device driving parts drive the two motion state switching devices to rotate through the two second transmission parts respectively.

10. The biped robot according to claim 9, wherein The second transmission part comprises a driving wheel, a driven wheel and an open steel belt, the open steel belt being sleeved on the driving wheel and the driven wheel, the driving wheel being connected with the switching device driving part, and the driven wheel being connected with the housing of the motion state switching device.

11. The biped robot according to claim 10, wherein The driven wheel comprises a driven wheel main body and a driven wheel rotating shaft, one end of the driven wheel rotating shaft being fixedly connected with the driven wheel main body, and the other end being rotatably connected with the thigh part.

12. The biped robot according to claim 10, wherein The driven wheel comprises a driven wheel main body and a driven wheel connecting part, the driven wheel connecting part being arranged close to the outer edge of the driven wheel main body, and the housing of the motion state switching device being hingedly connected with the driven wheel connecting part.

13. The biped robot according to claim 8, wherein The two motion state switching devices are symmetrically arranged relative to the shank part.

14. The biped robot according to claim 7, wherein The housing of the motion state switching device comprises a connecting part and a main body part, one end of the connecting part being connected with the thigh part or the shank part, and the other end being connected with the main body part; the sliding channel and the accommodating cavity are communicated, the sliding channel being arranged in the connecting part, and the accommodating cavity being arranged in the main body part.

15. The biped robot as claimed in claim 7, wherein, The hip joint part comprises a first hip joint part and a second hip joint part, the first hip joint part being rotatably connected with the pelvic part around a third direction, and the second hip joint part being rotatably connected with the first hip joint part around a fourth direction. The second hip joint part gradually decreases in cross-sectional area along the fourth direction, and is connected to the first hip joint part at one end having a larger area and to the thigh part at the other end having a smaller area.

16. The biped robot of claim 15, wherein, The driving component includes a calf driving part fixed to the thigh part and connected to the calf part for driving the calf part to rotate around the first direction.

17. The biped robot of claim 15, wherein, The driving component includes: a first hip joint driving part fixed to the pelvic part and connected to the first hip joint part for driving the first hip joint part to rotate around the third direction; a second hip joint driving part fixed to the first hip joint part and connected to the second hip joint part for driving the second hip joint part to rotate around the fourth direction.

18. The biped robot of claim 15, wherein, The driving component includes a thigh driving part fixed to the second hip joint part and connected to the thigh part for driving the thigh part to rotate around the first direction. The thigh driving part includes a driving housing and a driving assembly arranged in the driving housing, and the driving housing is arranged close to the end of the second hip joint part having a smaller area; the second hip joint part and the driving housing are integrally manufactured.

19. The biped robot as claimed in claim 7, wherein, The driving component includes: a calf driving part fixed to the thigh part and connected to the calf part for driving the calf part to rotate around the first direction; a switching device driving part fixed to the thigh part and connected to the motion state switching device for driving the motion state switching device to rotate around the first direction.

20. The biped robot as claimed in claim 7, wherein, The driving component includes a calf driving part fixed to the thigh part and connected to the calf part for driving the calf part to rotate around the first direction. The biped robot further includes a first transmission part connected between the calf driving part and the calf part, and the calf driving part drives the calf part to rotate through the first transmission part.

21. The biped robot of claim 20, wherein, The first transmission part adopts a linkage mechanism.

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