Dragon-shaped biped walking robot and walking method

Abstract

The present application relates to a kind of dragon-shaped biped walking robot and walking method, head (20), trunk (30), arm (40), hand (50), tail (60), leg (70) and foot (80), the bottom of the tail (60) is equipped with tail support wheel (1);Leg (70) and foot (80) are all equipped with rudder. Tail (60) is increased with a support point for keeping balance, the front two feet are respectively through the support of the roller on each side to make its relative movement, the foot on the other side is through the force exerted to rear and thus reaches the function of making its whole forward movement, innovatively combines each action, although the two feet that contact with ground are not left ground, but can make the machine forward or backward or turn can various movements;It can make robot move like humanoid robot, the gravity center is stable in the process of movement, and will not be tilted.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dragon-shaped biped walking robots, in particular to a dragon-shaped biped walking robot. BACKGROUND

[0002] Conventional robot movement is driven by power to move forward, while another humanoid robot moves by constantly lifting the left foot or right foot to move the robot, but the center of gravity of such movement changes significantly, and the stability of the robot is not high, and the robot needs to constantly overcome gravity to do work, which is not efficient. The robot moving forward by wheels has a large difference in movement posture from human movement and is not enough to imitate life, while the common humanoid robot moves with a large left-right swing and unstable center of gravity, which is prone to falling.

[0003] For example, the Chinese patent application with publication number CN111203886A discloses a transformable robot and a control method, which includes a main body, a central control module is arranged inside the main trunk, the central control module is connected with a plurality of driving motors; a head, an environment acquisition module is arranged in the head and connected with the central control module; a pair of mechanical legs, which are symmetrically arranged on both sides of the bottom of the main trunk through a connecting shaft; a pair of mechanical arms, which are symmetrically arranged on both sides of the top of the main body through the connecting shaft, and a wheel set is arranged at the middle end of the mechanical arm and the bottom of the mechanical leg. When the moving width of the robot is less than the width of the robot and greater than the thickness of the robot, the transformable robot can be transformed into a mode in which the wheels on the mechanical legs are in contact with the ground and move horizontally, and the wheels on the mechanical arms move horizontally along the wall. However, the movement posture of the transformable robot is quite different from that of a human, and it is not enough to imitate life, and it is unstable and prone to falling. SUMMARY

[0004] In order to solve the above technical defects existing in the prior art, the purpose of the present application is to provide a dragon-shaped biped walking robot and a walking method, which increases a tail on the robot, the tail increases a support point for keeping balance, the two front feet respectively support the rollers on their respective sides to move relatively, and the foot on the other side moves forward by applying force to the rear, thereby achieving the function of moving the whole body forward, the center of gravity is stable, and it is not easy to fall.

[0005] In order to achieve the above design purpose, the present application adopts the following solutions:

[0006] The present application provides a dragon-shaped biped walking robot, which comprises a head, a trunk, arms, hands, legs and feet, the rear end of the trunk is provided with a tail, the bottom of the tail is provided with a tail rear support wheel, and the legs and the feet are each provided with a rudder.

[0007] Preferably, the feet comprise a left foot rudder, a right foot rudder, a left foot support wheel, a left foot anti-skid pad, a right foot anti-skid pad and a right foot support wheel; the legs comprise a left thigh rudder, a left shank rudder, a right thigh rudder and a right shank rudder.

[0008] Preferably, in any of the above schemes, the left thigh rudder is connected with the left hip joint rudder, and a rudder rotating shaft is arranged between the left thigh rudder and the left shank rudder.

[0009] Preferably, in any of the above schemes, the right thigh rudder is connected with the right hip joint rudder, and a rudder rotating shaft is arranged between the right thigh rudder and the right shank rudder.

[0010] Preferably, in any of the above schemes, the left foot support wheel and the right foot support wheel are hidden in the left and right feet in an initial state, and the left foot support wheel and the right foot support wheel are stretched out of the left and right feet to support the robot when the robot moves.

[0011] Preferably, in any of the above schemes, the feet comprise a driving rudder, a front support wheel fixing shell, a front support wheel fixing shell and a left foot support framework.

[0012] Preferably, in any of the above schemes, the driving rudder is located in the left foot support framework, and a first roller and a second roller are further arranged in the left foot support framework.

[0013] Preferably, in any of the above schemes, the first roller is mounted on the outer side of the front support wheel fixing shell, and the second roller is mounted on the outer side of the rear support wheel fixing shell.

[0014] Preferably in any of the above schemes, the upper end of the left foot support framework is connected with a side plate through a rotating shaft, and a torsional spring is arranged between the rotating shaft and the side plate; the left foot support framework drives the movement executing component composed of the front support wheel fixing shell and the rear support wheel fixing shell to fold outward from inside, and simultaneously drives the side plate to evert outward to provide sufficient space for the folding of the movement executing component composed of the front support wheel fixing shell and the rear support wheel fixing shell, and after deformation, the side plate is driven by the torsional spring to evert back to the original position.

[0015] Another aspect of the present application provides a walking method of the dragon-shaped biped walking robot, comprising:

[0016] The first step is that the left foot steering engine drives the left foot support wheel to land, and supports the robot, at this time the right foot is not moved, and the right foot anti-skid pad lands;

[0017] The second step is that the left thigh steering engine rotates to make the left leg hip joint steering engine rotate forward by a certain angle, and simultaneously the left lower leg steering engine rotates backward by a certain angle; the right thigh steering engine rotates to make the left leg hip joint steering engine rotate backward by a certain angle, and simultaneously the right lower leg steering engine rotates forward by a certain angle; the above actions are simultaneously performed to make the right foot and the whole robot relatively move forward;

[0018] The third step is that the right foot steering engine drives the right foot support wheel to land, and supports the robot, and the left foot steering engine drives the right foot support wheel to retract, and the left foot anti-skid pad lands;

[0019] The fourth step is that the right thigh steering engine rotates to make the right leg hip joint steering engine rotate forward by a certain angle, and simultaneously the right lower leg steering engine rotates backward by a certain angle; the left thigh steering engine rotates to make the left leg hip joint steering engine rotate backward by a certain angle, and simultaneously the left lower leg steering engine rotates forward by a certain angle; the above actions are simultaneously performed to make the right foot and the whole robot relatively move forward;

[0020] The fifth step is that the left foot steering engine drives the left foot support wheel to land, and supports the robot; the right foot steering engine drives the right foot support wheel to retract, and the left foot anti-skid pad lands;

[0021] The sixth step is that the second step is repeated, and the second step to the sixth step are reciprocatingly circulated to make the robot walk forward. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a structure schematic view of a preferred embodiment of the dragon-shaped biped walking robot according to the present application.

[0023] Figure 2 It is a structure schematic view of a preferred embodiment of the dragon-shaped biped walking robot according to the present application. Figure 1 It is a bottom structure schematic view of a preferred embodiment of the dragon-shaped biped walking robot according to the present application.

[0024] Figure 3 It is a bottom structure schematic view of a preferred embodiment of the dragon-shaped biped walking robot according to the present application.Figure 1 The diagram shows a schematic representation of the internal skeleton in the preferred embodiment.

[0025] Figure 4 For the dragon-shaped bipedal walking robot according to the present invention Figure 3 A split view of the foot in the preferred embodiment shown.

[0026] Figure 5 For the dragon-shaped bipedal walking robot according to the present invention Figure 3 A schematic diagram of the bottom structure of the preferred embodiment is shown.

[0027] Figure 6 For the dragon-shaped bipedal walking robot according to the present invention Figure 1 The diagram shows the initial state of the robot in the preferred embodiment.

[0028] Figure 7 For the dragon-shaped bipedal walking robot according to the present invention Figure 6 The diagram shows the state of the robot's left foot and the entire robot moving forward relative to each other in the preferred embodiment.

[0029] Figure 8 For the dragon-shaped bipedal walking robot according to the present invention Figure 7 The diagram shown illustrates the state of the robot in the preferred embodiment, where the right foot support wheel is retracted and the left foot is on the ground with the anti-slip mat in place.

[0030] Figure 9 For the dragon-shaped bipedal walking robot according to the present invention Figure 8 The diagram shows the state of the robot's left foot and the entire robot moving forward relative to each other in the preferred embodiment.

[0031] Figure 10 For the dragon-shaped bipedal walking robot according to the present invention Figure 9 The diagram shown illustrates the state of the robot in the preferred embodiment, where the right foot support wheel is retracted and the left foot is on the ground with the anti-slip mat in place. Detailed Implementation

[0032] The following description is merely exemplary and not intended to limit this disclosure, its application, or its uses. Specific embodiments of the dragon-shaped bipedal walking robot of the present invention will be further described below with reference to the accompanying drawings.

[0033] like Figures 1-3 The diagram shows the overall structure of the dragon-shaped bipedal walking robot according to the present invention.

[0034] The present application provides a dragon-shaped biped walking robot, which comprises a head 20, a trunk 30, arms 40, hands 50, legs 70 and feet 80, the rear end of the trunk 30 is provided with a tail 60, the bottom of the tail 60 is provided with a tail rear support wheel 20, and the legs 70 and the feet 80 are each provided with a steering engine. The tail 60 is provided with an additional support point for keeping balance, the front two feet are respectively provided with a supporting roller on each side to make relative movement, and the other side of the feet is provided with a force applied to the rear to make the whole move forward, the movements are combined innovatively, the three feet in contact with the ground do not leave the ground, and the robot can move forward, backward or turn in various ways, and the robot can move like a humanoid robot, the center of gravity is stable during movement, and the robot will not fall down.

[0035] In the embodiment, the feet 80 comprise a left foot steering engine 8, a right foot steering engine 11, a left foot support wheel 4, a left foot anti-skid pad 5, a right foot anti-skid pad 2 and a right foot support wheel 3, and the legs comprise a left thigh steering engine 6, a left shank steering engine 7, a right thigh steering engine 9 and a right shank steering engine 10.

[0036] In the embodiment, the left thigh steering engine 6 is connected with a left side crotch joint steering engine, and a steering engine rotating shaft is arranged between the left thigh steering engine 6 and the left shank steering engine 7.

[0037] In the embodiment, the right thigh steering engine 9 is connected with a right side crotch joint steering engine, and a steering engine rotating shaft is arranged between the right thigh steering engine 9 and the right shank steering engine 10.

[0038] In the embodiment, the left foot support wheel 4 and the right foot support wheel 3 are hidden in the left and right feet in an initial state, and the left foot support wheel 4 and the right foot support wheel 3 are stretched out of the left and right feet to support the whole robot when the robot moves.

[0039] As shown in the figure, the feet of the dragon-shaped biped walking robot according to the present application are split as shown in the preferred embodiment. Figures 4-5 Figure 3 As shown in the figure, the feet of the dragon-shaped biped walking robot according to the present application are split as shown in the preferred embodiment.

[0040] In the embodiment, the feet 80 comprise a driving steering engine 81, a front support wheel fixing shell 82, a rear support wheel fixing shell 88 and a left foot support skeleton 86.

[0041] In the embodiment, the driving steering engine 81 is located in the left foot support skeleton 86, and the left foot support skeleton 86 is further provided with a first roller 87 and a second roller 89.

[0042] In the embodiment, the first roller 87 is installed on the outer side of the front support wheel fixing shell 82, and the second roller 89 is installed on the inner wall of the rear support wheel fixing shell 88.

[0043] ​In the embodiment, the upper end of the left foot support framework 86 is connected with the side plate 83 through the rotating shaft 85, and the torsional spring 84 is arranged between the rotating shaft 85 and the side plate 83; the left foot support framework 86 drives the movement executing component composed of the front support wheel fixing shell 82 and the rear support wheel fixing shell 88 to fold outwards under the driving of the driving rudder 81, and simultaneously drives the side plate 83 to fold outwards to provide sufficient space for the folding of the movement executing component composed of the front support wheel fixing shell 82 and the rear support wheel fixing shell 88, and the side plate 83 folds back to the original position under the driving of the torsional spring 84 after deformation.

[0044] In the embodiment, the side plate 83 is slightly lifted under the driving of the driving rudder 81.

[0045] In the embodiment, the driving rudder 81 continues to drive the front support wheel fixing shell 82 and the rear support wheel fixing shell 88 to rotate, and simultaneously continues to lift the side plate 83. At this time, the first roller 87 and the second roller 89 are perpendicular to the small arm and can directly contact the ground to roll.

[0046] In the embodiment, the front support wheel fixing shell 82 and the rear support wheel fixing shell 88 rotate to the final position, the side plate 83 is limited by the torsional spring 84 and returns to the initial position, and the torsional spring 84 is connected to the rotating shaft 85, and the rotating shaft 85 is also connected to the side plate 83 and the small arm 86.

[0047] Next, refer to Figures 6-10 shown.

[0048] Another aspect of the present application provides a walking method of the dragon-shaped biped walking robot, comprising:

[0049] Firstly, the left foot rudder 8 drives the left foot support wheel 4 to land and supports the robot, at this time, the right foot is not moved and the right foot anti-skid pad 2 lands (see Figure 6 shown);

[0050] Secondly, the left thigh rudder 6 rotates to make the hip joint rudder of the left leg rotate forward by a certain angle, and the left calf rudder 7 rotates backward by a certain angle; the right thigh rudder 9 rotates to make the hip joint rudder of the left leg rotate backward by a certain angle, and the right calf rudder 10 rotates forward by a certain angle; the above movements are simultaneously performed to make the left foot and the whole robot move forward (see Figure 7 shown);

[0051] Thirdly, the right foot rudder 11 drives the right foot support wheel 3 to land and supports the robot, and the left foot rudder 8 drives the right foot support wheel 4 to retract and the left foot anti-skid pad 5 lands (see Figure 8 shown);

[0052] Fourth step, the right thigh steering wheel 9 rotation makes the right leg's crotch joint steering wheel rotate forward a certain angle, at the same time the right small leg steering wheel 10 rotates backward a certain angle;The left thigh steering wheel 6 rotates and makes the left leg's crotch joint steering wheel rotate backward a certain angle, at the same time the left small leg steering wheel 7 rotates forward a certain angle;The above movements are carried out simultaneously, so that the left foot and the machine whole relative to the forward movement (see Figure 9 As shown);

[0053] Fifth step, the left foot steering wheel 8 drives the left foot support wheel 4 to land, and supports the machine;The right foot steering wheel 11 drives the right foot support wheel 3 to retract, and the left foot anti-skid pad 2 lands (see Figure 10 As shown);

[0054] Sixth step, repeat the second step, the second step to the sixth step reciprocating cycle makes the robot walk forward.

[0055] The double-foot robot of the present application is large in structure before and after deformation, and the mechanism hidden in the foot is optimized for the integrity of the appearance;The robot is large in structure before and after deformation, and the folding of the hand needs to be left with enough space for the integrity of the appearance, and the mechanism is driven by a high-precision steering wheel to move, and the side plate is deformed by the mechanism;After the mechanism is deformed, the side plate returns to its original position under the action of the torsional spring, and the characteristics are that enough space is left for the deformation of the mechanism and the integrity of the appearance of the mechanism is maintained.

[0056] As can be easily understood by those skilled in the art, the dragon-shaped double-foot walking robot and the walking method of the present application include any combination of the parts in the specification. Due to the limited space and in order to make the specification concise, these combinations are not introduced in detail one by one, but after reading the specification, it is self-evident that any combination of the parts in the specification constitutes the scope of the present application.

Claims

1. A walking method of a dragon-shaped biped walking robot including a head portion (20), a trunk portion (30), an arm (40), a hand portion (50), a tail (60), a leg portion (70), and a foot portion (80), characterized by: The rear end of the trunk (30) is provided with a tail (60), the bottom of the tail (60) is provided with a tail rear support wheel; the leg (70) and the foot (80) are provided with a steering engine; the foot (80) comprises a left foot steering engine (8), a right foot steering engine (11), a left foot support wheel (4), a left foot anti-skid pad (5), a right foot anti-skid pad (2) and a right foot support wheel (3); the leg comprises a left thigh steering engine (6), a left calf steering engine (7), a right thigh steering engine (9) and a right calf steering engine (10); the left thigh steering engine (6) is connected with the left side crotch joint steering engine; a steering engine rotating shaft is arranged between the left thigh steering engine (6) and the left calf steering engine (7); the right thigh steering engine (9) is connected with the right side crotch joint steering engine; a steering engine rotating shaft is arranged between the right thigh steering engine (9) and the right calf steering engine (10); the walking method is specifically as follows: first, the left foot steering engine (8) drives the left foot support wheel (4) to land, and the robot is supported, at this time, the right foot is not moved, and the right foot anti-skid pad (2) lands; second, the left thigh steering engine (6) rotates to make the crotch joint steering engine of the left leg rotate forward by a certain angle, and the left calf steering engine (7) rotates backward by a certain angle; the right thigh steering engine (9) rotates to make the crotch joint steering engine of the right leg rotate backward by a certain angle, and the right calf steering engine (10) rotates forward by a certain angle; the above actions are performed simultaneously, so that the right foot and the robot as a whole move forward relatively; third, the right foot steering engine (11) drives the right foot support wheel (3) to land, and the robot is supported, the left foot steering engine (8) drives the left foot support wheel (4) to retract, and the left foot anti-skid pad (5) lands; fourth, the right thigh steering engine (9) rotates to make the crotch joint steering engine of the right leg rotate forward by a certain angle, and the right calf steering engine (10) rotates backward by a certain angle; the left thigh steering engine (6) rotates to make the crotch joint steering engine of the left leg rotate backward by a certain angle, and the left calf steering engine (7) rotates forward by a certain angle; the above actions are performed simultaneously, so that the right foot and the robot as a whole move forward relatively; fifth, the left foot steering engine (8) drives the left foot support wheel (4) to land, and the robot is supported; the right foot steering engine (11) drives the right foot support wheel (3) to retract, and the right foot anti-skid pad (2) lands; sixth, the second step is repeated, and the steps from the second step to the sixth step are reciprocatingly circulated to make the robot walk forward.

2. The walking method of a dragon-shaped biped walking robot according to claim 1, wherein: The left foot support wheel (4) and the right foot support wheel (3) are hidden in the left and right feet in the initial state; when the robot moves, the left foot support wheel (4) and the right foot support wheel (3) are stretched out from the left and right feet to land, and the robot is supported as a whole.

3. The walking method of a dragon-shaped biped walking robot according to claim 1, wherein The foot (80) comprises a driving steering engine (81), a front support wheel fixing shell (82), a rear support wheel fixing shell (88) and a left foot support framework (86).

4. The walking method of the dragon-shaped biped walking robot according to claim 3, characterized in that: The driving steering engine (81) is located in the left foot support framework (86), and the left foot support framework (86) is further provided with a first roller (87) and a second roller (89).

5. The walking method of the dragon-shaped biped walking robot according to claim 4, characterized in that: The first roller (87) is installed on the outer side of the front support wheel fixing shell (82); the second roller (89) is installed on the outer side of the rear support wheel fixing shell (88).

6. The walking method of a dragon-shaped biped walking robot according to claim 3 or 4, wherein: The upper end of the left foot support framework (86) is connected with a side plate (83) through a rotating shaft (85), and a torsional spring (84) is arranged between the rotating shaft (85) and the side plate (83); the left foot support framework (86) drives the movement executing component composed of the front support wheel fixing shell (82) and the rear support wheel fixing shell (88) to fold outward from inside under the driving of the driving rudder (81), and simultaneously drives the side plate (83) to fold outward to give the movement executing component composed of the front support wheel fixing shell (82) and the rear support wheel fixing shell (88) enough space for folding, and after deformation is completed, the side plate (83) is folded outward to return to the original position under the driving of the torsional spring (84).

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