Footed robot and method of motion control thereof

Abstract

The application relates to a legged robot and a motion control method thereof. The legged robot comprises a legged body, a first motor, a second motor, a thigh and a shank. The second motor is connected with the output shaft of the first motor and the thigh respectively. The shank is hinged with the thigh, and the second motor is in transmission connection with the shank. A first limiting structure is arranged or formed on the first motor and / or the second motor, and is used for limiting the rotation of the second motor relative to the first motor when the legged body is switched from a motion state to a standing state. A second limiting structure is arranged or formed on the thigh and / or the shank, and is used for limiting the rotation of the shank relative to the thigh when the legged body is switched from the motion state to the standing state. A control device is electrically connected with the first motor and the second motor, and is used for controlling the first motor and the second motor to stop outputting power when the legged body is switched from the motion state to the standing state. At this time, the first limiting structure and the second limiting structure are mechanically limited with the legged body, and the battery energy consumption is reduced.

Description

Technical Field

[0001] This application relates to the field of legged robot technology, and in particular to legged robots and their motion control methods. Background Technology

[0002] With the continuous development of robotics technology, legged robots, with their advantages of strong terrain adaptability, wide range of applications, and good environmental interactivity, are gradually being applied to various scenarios in the fields of military industry, inspection, and logistics.

[0003] Currently, legged robots consist of a main body and leg modules connected to the main body. The leg modules are generally controlled by three motors: a hip joint motor, a thigh motor, and a calf motor, to realize the movement of the legged robot.

[0004] However, in actual operation, the thigh and calf motors bear most of the energy consumption of legged robots in motion and standing states. Moreover, even when a legged robot stands still for a long time, the leg modules still need to maintain a certain torque output in the joints when maintaining the standing posture. This means that the thigh and calf motors are still under load when the legged robot is standing, continuously consuming energy, affecting the endurance of the legged robot, and greatly limiting the adaptability of the legged robot. Summary of the Invention

[0005] Therefore, it is necessary to provide a legged robot and its motion control method to address the problem of high energy consumption in the standing state.

[0006] This application provides a legged robot, comprising:

[0007] The leg body includes a first motor, a second motor, a thigh, and a lower leg. The second motor is connected to the output shaft of the first motor and the thigh, respectively. The lower leg is hinged to the thigh, and the second motor is connected to the lower leg in a transmission connection.

[0008] A first limiting structure is provided or formed in the first motor and / or the second motor, for limiting the rotation of the second motor relative to the first motor when the leg body switches from a motion state to a standing state;

[0009] A second limiting structure is provided or formed on the thigh and / or the lower leg to restrict the rotation of the lower leg relative to the thigh when the leg body switches from a motion state to a standing state.

[0010] The control device is electrically connected to the first motor and the second motor, and is used to control the first motor and the second motor to stop outputting power when the leg body switches from a moving state to a standing state.

[0011] When the aforementioned legged robot is working, the control device starts the first and second motors. The first and second motors operate independently, with the output shaft of the first motor driving the second motor to rotate. The second motor then moves the thigh and lower leg, keeping the leg body in motion. When it needs to stand still, the control device controls the first and second motors to rotate by a set angle, switching the leg body from motion to standing. At this time, the first limiting structure restricts the rotation of the second motor relative to the first motor, stopping the thigh's movement. The second limiting structure restricts the rotation of the lower leg relative to the thigh, stopping the lower leg's movement. The control device then stops the output power of the first and second motors, saving energy. In the standing state, the first and second limiting structures are mechanically locked to the leg body to maintain the standing position. Simultaneously, the torque of the first and second motors is released, reducing battery energy consumption and increasing operating time. This facilitates the design selection of parameters such as operating time, battery capacity, and overall weight of the legged robot, greatly expanding its adaptability.

[0012] In one embodiment, the first limiting structure includes:

[0013] First blocking section;

[0014] The first mating part and the first blocking part are disposed or formed on the first motor and the other is disposed or formed on the second motor. When the leg body is in a standing state, the first mating part and the first blocking part are limited and abutted together.

[0015] In one embodiment, the first blocking part includes two blocking surfaces, which are spaced apart from each other and located on an arc line with the output shaft of the first motor as the axis. The arc line is the motion trajectory line of the first mating part relative to the two blocking surfaces.

[0016] In one embodiment, the first limiting structure includes a limiting member, on which the first blocking portion is disposed or formed. The limiting member is disposed on the first motor, and its position on the first motor is adjustable in the direction in which the first motor rotates relative to the second motor; or...

[0017] The first limiting structure includes a limiting member, on which the first blocking portion is provided or formed. The limiting member is disposed on the second motor, and its position on the second motor is adjustable in the direction in which the first motor rotates relative to the second motor.

[0018] In one embodiment, the first limiting structure further includes a first driver communicatively connected to the control device, the first driver being connected to the limiting member for driving and adjusting the position of the limiting member on the first motor or the second motor; or...

[0019] The first motor or the second motor is provided with a plurality of first mounting parts, wherein the plurality of first mounting parts are spaced apart from each other on the rotation arc of the second motor relative to the first motor, and the limiting member is detachably fixed to any of the first mounting parts.

[0020] In one embodiment, the lower leg can swing clockwise relative to the thigh to a first extreme position, and the second limiting structure is used to restrict the lower leg from swinging clockwise relative to the thigh and stop at the first extreme position;

[0021] And / or,

[0022] The lower leg can swing counterclockwise relative to the thigh to a second extreme position, and the second limiting structure is used to restrict the lower leg from swinging counterclockwise relative to the thigh and stop at the second extreme position.

[0023] In one embodiment, the second limiting structure includes:

[0024] Second blocking section;

[0025] The second mating part and the second blocking part are disposed or formed on the thigh and the other is disposed or formed on the calf. When the leg body is in a standing state, the second mating part and the second blocking part are limited and abutted together.

[0026] In one embodiment, the second limiting structure includes a blocking member disposed on the thigh, the blocking member having a second blocking portion disposed or formed thereon, and the fixed position of the blocking member on the thigh being adjustable to adjust the angle between the thigh and the lower leg in the standing state; or,

[0027] The second limiting structure includes a blocking member disposed on the lower leg. The blocking member has a second blocking portion disposed or formed on it, and the fixed position of the blocking member on the thigh is adjustable to adjust the angle between the thigh and the lower leg in the standing state.

[0028] In one embodiment, the second limiting structure further includes a second driver communicatively connected to the control device, the second driver being driven connected to the blocking member for adjusting the fixed position of the blocking member on the thigh or the calf; or...

[0029] A plurality of second mounting portions are provided on the end of the thigh near the calf or the end of the calf near the thigh, wherein the plurality of second mounting portions are spaced apart from each other on the rotation arc of the calf relative to the thigh, and the blocking member is detachably fixed to any of the second mounting portions.

[0030] In addition, embodiments of this application also provide a motion control method for a legged robot as described in any of the above technical solutions, comprising the following steps:

[0031] Step S100: Collect motion state parameters of the legged robot, including the rotation angle of the first motor and / or the second motor;

[0032] Step S200: Based on the received standing command and the motion state parameters, control the leg body to switch from motion state to standing state, and control the first motor and the second motor to stop outputting power in the standing state.

[0033] In the aforementioned motion control method for the legged robot, the control device enables the switching control of the leg body between a moving state, a standing state, and a state between both. In specific operation, firstly, in step S100, the motion state parameters of the legged robot are collected. The first motor and / or the second motor acquire their own rotation parameters and transmit these parameters to the control device. These rotation parameters include rotation angles reflecting the extent of rotation of the first and / or second motors. Then, in step S200, the control device analyzes the received standing command and motion state parameters. When the rotation angles of the first and second motors reach a set angle, the control device determines that the leg body needs to switch from a moving state to a standing state. Furthermore, the control device controls the first and second motors to stop outputting power. At this time, the first limiting structure restricts the rotation of the second motor relative to the first motor, stopping the thigh movement; the second limiting structure restricts the rotation of the lower leg relative to the thigh, stopping the lower leg movement. The first and second limiting structures maintain a self-locking mechanical constraint with the leg body to maintain the standing state.

[0034] In one embodiment, the motion state parameters further include a preset standing time, which is a set standing time corresponding to the time required for the footed robot to stand and inspect. The preset standing time is not less than the time required for the standing and inspection. The motion control method further includes that after the leg body maintains a standing state for a preset standing time, the control device controls the first motor and the second motor to start, and the leg body switches from the standing state to the motion state.

[0035] In one embodiment, the motion control method further includes the following steps:

[0036] The control device sends an adjustment signal to the first driver to adjust the position of the limiting member on the first motor or the second motor; and / or, the control device sends an adjustment signal to the second driver to adjust the fixed position of the blocking member on the thigh or calf to a set position. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of a legged robot in motion, provided in an embodiment of this application.

[0038] Figure 2 This is a structural schematic diagram of a legged robot in a standing state, provided in an embodiment of this application.

[0039] Figure 3 This is an exploded view of the leg module in a legged robot provided in an embodiment of this application.

[0040] Figure 4 This is a schematic diagram of the internal structure of the leg module in a legged robot provided in an embodiment of this application.

[0041] Figure 5 This is a schematic diagram of the limiting structure in a legged robot provided in an embodiment of this application.

[0042] Figure 6 for Figure 4 An enlarged view of position B in the middle.

[0043] Figure 7 This is a schematic diagram of the limiting structure in a legged robot provided in an embodiment of this application.

[0044] Figure 8 This is a schematic diagram of the limiting structure in a legged robot provided in an embodiment of this application.

[0045] Figure 9 A partial cross-sectional view of the second limiting structure provided in an embodiment of this application.

[0046] Figure 10 This is a flowchart illustrating a motion control method for a legged robot provided in an embodiment of this application.

[0047] Figure label:

[0048] 10. Legged robots;

[0049] 100, Leg module; 100a, Arc; X, Direction of travel;

[0050] 110. Leg body; 111. First motor; 112. Second motor; 113. Thigh; 114. Lower leg; 1141. Slide groove; 115. Hip joint motor; 116. Sprocket and chain mechanism; 1161. Drive sprocket; 1162. Driven sprocket;

[0051] 120. First limiting structure; 121. First blocking part; 1211. Blocking surface; 1212. Arc groove; 1213. Second blocking block; 1214. Notch; 1215. Third blocking block; 122. First mating part; 123. Limiting component;

[0052] 130. Second limiting structure; 131. Second blocking part; 132. Second mating part; 133. Blocking member;

[0053] 200. Main body;

[0054] 300, Second drive. Detailed Implementation

[0055] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0056] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms 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 application and simplifying the description, and do not 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 application.

[0057] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0058] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0059] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0061] Existing legged robots typically consist of a torso and leg modules. The torso can be a platform or a frame structure, and various instruments, such as camera modules and detection modules, are mounted on it. The leg modules are mounted on the torso and have both a moving and a standing state. In the moving state, the leg modules drive the torso to perform actions such as standing, walking, and stepping. In the standing state, the leg modules stop moving and maintain a standing posture. These legged robots can be applied in complex industrial, military, and everyday scenarios.

[0062] See Figure 1 as well as Figure 2 The embodiments of this application are based on existing technology and improve upon them to provide a legged robot 10. The improvement involves the leg module 100, while the main body 200 remains unchanged and can utilize an existing structure. See also... Figure 3 as well as Figure 4In the legged robot 10 provided in this application embodiment, a first limiting structure 120 and a second limiting structure 130 are added to the leg body 110 of the leg module 100, and together with the control device, it can perform the switching between the motion state and the standing state, and the mechanical self-locking in the standing state. At the same time, based on the legged robot 10 provided in this application embodiment, this application embodiment also provides a motion control method for the legged robot, which is used to switch between the motion state and the standing state during the inspection process.

[0063] See Figure 2 as well as Figure 3 In the legged robot 10 provided in this application embodiment, the leg module 100 includes a leg body 110, which includes a first motor 111, a second motor 112, a thigh 113, and a lower leg 114. The housing of the first motor 111 is disposed on the torso body 200. In some embodiments, the housing of the first motor 111 is rotatable relative to the torso body 200. In a specific configuration, the leg body 110 also includes a hip joint motor 115, the housing of which is mounted on the torso body 200, and the housing of the first motor 111 is mounted on the output shaft of the hip joint. The housing of the second motor 112 is mounted on the output shaft of the first motor 111, and the thigh 113 is mounted on the housing of the second motor 112. The lower leg 114 is hinged to the thigh 113, and the lower leg 114 is drively connected to the output shaft of the second motor 112. In a specific configuration, the leg body 110 also includes a sprocket and chain mechanism 116. The sprocket and chain mechanism 116 is located inside the thigh 113. The driving sprocket 1161 is mounted on the output shaft of the second motor 112. The shaft end of the driven sprocket 1162 is rotatably mounted on the end of the thigh 113 away from the second motor 112. The lower leg 114 is mounted on the driven sprocket 1162.

[0064] See Figure 3 as well as Figure 5The leg module 100 also includes a first limiting structure 120, which restricts the rotation of the second motor 112 relative to the first motor 111 when the leg body 110 switches from a moving state to a standing state, so that the first motor 111 and the second motor 112 are relatively stationary. The first limiting structure 120 can be disposed on the first motor 111 and / or the second motor 112. In some embodiments, the first limiting structure 120 can be a split structure. In this case, only the first limiting structure 120 needs to be installed without modifying the first motor 111 and / or the second motor 112, which is easy to assemble, has a simple structure, and does not affect the existing structure. In addition, in other embodiments, the first limiting structure 120 can be formed on the first motor 111 and / or the second motor 112, that is, the first motor 111 and / or the second motor 112 includes the first limiting structure 120. In this case, the overall size of the leg module 100 is smaller, which facilitates miniaturization. Depending on the specific design requirements, the first limiting structure 120 may be located only on the first motor 111, only on the second motor 112, or simultaneously on both the first motor 111 and the second motor 112, to accommodate different leg modules 100.

[0065] See Figure 4 as well as Figure 6 The leg module 100 also includes a second limiting structure 130, which restricts the rotation of the lower leg 114 relative to the thigh 113 when the leg body 110 switches from a moving state to a standing state, so that the lower leg 114 and the thigh 113 remain relatively stationary. In some embodiments, the second limiting structure 130 can be disposed on the thigh 113 and / or the lower leg 114, that is, the second limiting structure 130 can be a separate structure. In this case, only the second limiting structure 130 needs to be installed without modifying the thigh 113 and / or the lower leg 114, which is easy to assemble, has a simple structure, and does not affect the existing structure. In other embodiments, the second limiting structure 130 can be formed on the thigh 113 and / or the lower leg 114, that is, the thigh 113 and / or the lower leg 114 includes the second limiting structure 130. In this case, the overall size of the leg module 100 is smaller, which facilitates miniaturization. Specifically, depending on the design requirements, the second limiting structure 130 can be located only on the thigh 113, only on the calf 114, or simultaneously on both the thigh 113 and the calf 114, to accommodate different leg and foot modules 100.

[0066] The control device is communicatively connected to the first motor 111 and the second motor 112. When the leg body 110 switches from a moving state to a standing state, the control device controls the first motor 111 and the second motor 112 to stop outputting power. At this time, the first motor 111 and the second motor 112 do not provide torque, which can greatly reduce power consumption in the standing state. In specific settings, the control device contains a control program that sends control commands to the first motor 111 and the second motor 112 according to the control program. These control commands include start commands and power output stop commands. The control device can be a PLC (Programmable Logic Controller), a PCB (Printed Circuit Board), or other structural forms that meet the requirements.

[0067] When the aforementioned legged robot 10 is working, the control device controls the first motor 111 and the second motor 112 to start. The first motor 111 and the second motor 112 move respectively. The output shaft of the first motor 111 drives the second motor 112 to rotate. The second motor 112 drives the thigh 113 and the lower leg 114 to move, so that the leg body 110 is in motion. The leg module 100 drives the torso body 200 to move accordingly. When it is necessary to stand still, the control device controls the first motor 111 and the second motor 112 to rotate by a set angle respectively. The leg body 110 switches from the motion state to the standing state. At this time, the first limiting structure 120 restricts the second motor 112 from rotating relative to the first motor 111, and the thigh 113 stops moving. The second limiting structure 130 restricts the lower leg 114 from rotating relative to the thigh 113, and the lower leg 114 stops moving. The control device controls the first motor 111 and the second motor 112 to stop outputting power, so as to save energy. When standing, the first limiting structure 120 and the second limiting structure 130 are mechanically limited and locked to the leg body 110 to maintain the standing state. The motor torque of the first motor 111 and the second motor 112 is released, which reduces battery energy consumption and increases running time. This facilitates the design selection of parameters such as running time, battery capacity, and overall weight of the legged robot 10, and greatly expands the adaptability of the legged robot 10.

[0068] The first limiting structure 120 has various structural forms. In some embodiments, the first limiting structure 120 includes a first blocking part 121 and a first engaging part 122. One of the first blocking part 121 and the first engaging part 122 is disposed or formed in the first motor 111, and the other is disposed or formed in the second motor 112. For example, see Figure 3 as well as Figure 5The first blocking part 121 is disposed on the second motor 112, and the first mating part 122 is formed on the first motor 111. For example, see [reference needed]. Figure 7 as well as Figure 8 A first blocking part 121 is disposed on the first motor 111, and a first engaging part 122 is formed on the second motor 112. The first engaging part 122 and the first blocking part 121 move relative to each other. When the relative movement between the two is set at a certain angle and the leg body 110 is in a standing state, the first engaging part 122 and the first blocking part 121 are limited and abutted, so that the first engaging part 122 and the first blocking part 121 cannot continue to move relative to each other, thereby preventing the second motor 112 from continuing to rotate relative to the first motor 111. Thus, the first limiting structure 120 restricts the rotation of the second motor 112 relative to the first motor 111 when the leg body 110 switches from a moving state to a standing state.

[0069] The first blocking part 121 has various structural forms; in some embodiments, see [reference needed]. Figure 3 as well as Figure 5 The first blocking part 121 includes two blocking surfaces 1211, which are spaced apart from each other and located on an arc 100a. The arc 100a has its axis on the center line of the output shaft of the first motor 111 and serves as the trajectory line of the first mating part 122 when it moves relative to the two blocking surfaces 1211. During operation, the blocking surfaces 1211 and the first mating part 122 make surface contact when they abut, improving the stability of the contact between the first mating part 122 and the first blocking part 121. Furthermore, the two blocking surfaces 1211 limit the swing of the thigh 113, with the lower blocking surface 1211 of the first blocking part 121 making a limiting contact with the first mating part 122, achieving the maximum swing amplitude during movement. The upper blocking surface 1211 of the first blocking part 121 abuts against the first mating part 122, reaching the critical point of the standing state, which facilitates the control of the movement state and the standing state.

[0070] See Figure 5 , Figure 7 as well as Figure 8Specifically, the arc A of the arc 100a is greater than 180°. In a further embodiment, the arc A of the arc 100a is 210°-320°, so that without changing the height and structural strength of the existing legged robot 10, the relative motion angle between the first mating part 122 and the first blocking part 121 is relatively large, thereby enabling the thigh 113 to have a large range of motion, realizing large-amplitude movement and switching between various movement postures. The arc A of the arc 100a is 190°, 210°, 230°, 250°, 270°, 290°, 300°, or 320°. Of course, the arc A of the arc 100a is not limited to the above specific values, and can also be greater than 180° or other values ​​within the range of 210°-320°.

[0071] The first blocking part 121 has various structural forms, see [reference]. Figure 3 as well as Figure 5 Specifically, the first blocking part 121 can be an arc-shaped groove 1212. In this case, the first mating part 122 slides within the arc-shaped groove 1212, and the two end faces of the arc-shaped groove 1212 form two blocking surfaces 1211. Furthermore, the sidewall of the arc-shaped groove 1212 along its arc direction and the first mating part 122 are spaced apart, and this distance is ≥0.2mm to facilitate smooth sliding. (See reference...) Figure 7 The first blocking part 121 can also be two second blocking blocks 1213, which are spaced apart. In this case, the first mating part 122 moves between the two second blocking blocks 1213. The second blocking blocks 1213 are disposed on the arc 100a, and the two opposite end faces of the second blocking blocks 1213 on the arc 100a form two blocking surfaces 1211. See reference. Figure 8 The first blocking part 121 can also be a third blocking block 1215 with a notch 1214. In this case, the first mating part 122 moves within the notch 1214, and the third blocking block 1215 forms two blocking surfaces 1211 near the two end faces of the notch 1214. In a specific configuration, the first mating part 122 is a fourth blocking block, which mates with the first blocking part 121.

[0072] There are various ways to configure the first blocking part 121 and the first mating part 122. They can be directly configured on the housings of the first motor 111 and the second motor 112. However, to facilitate the configuration of the first limiting structure 120, in some embodiments, the first limiting structure 120 includes a limiting member 123, on which the first blocking part 121 is provided, or the first blocking part 121 is formed on the limiting member 123. For example... Figure 3 as well as Figure 5As shown, the limiting member 123 is disposed on the second motor 112, and the position of the limiting member 123 on the first motor 111 is adjustable in the direction of rotation of the first motor 111 relative to the second motor 112; or, as Figure 7 as well as Figure 8 As shown, the limiting member 123 is disposed on the first motor 111, and the position of the limiting member 123 on the first motor 111 is adjustable in the direction of rotation of the first motor 111 relative to the second motor 112. In specific settings, the limiting member 123 is installed together with the first motor 111 or the second motor 112 through threaded connection, snap-fit ​​connection, or concave-convex fit. By making the limiting member 123 adjustable, the angle between the extension line of the thigh 113 and the front-back direction of the body 200 can be changed, thereby obtaining different movement postures in the movement state, expanding the working scenarios of the legged robot 10, and improving the adaptability of the legged robot 10. Furthermore, by changing the limiting member 123, different first blocking parts 121 can be obtained to achieve different working states.

[0073] To facilitate the adjustment of the limiting member 123, in some embodiments, the first limiting structure 120 further includes a first driver. The first driver is communicatively connected to the control device and drivenly connected to the limiting member 123. The first driver is used to drive and adjust the position of the limiting member 123 on the first motor 111 or the second motor 112, so as to change the relative movement angle between the first motor 111 and the second motor 112, thereby changing the relative movement angle between the thigh 113 and the lower leg 114 and adjusting the swing amplitude of the leg body 110. In a specific configuration, the first driver can be a stepper motor. The fixed end of the stepper motor is mounted on the first motor 111 or the second motor 112, and the output shaft of the first driver is connected to the limiting member 123. The control device sends an action command to the first driver, causing the stepper motor to move and drive the limiting member 123 to rotate relative to the first motor 111 or the second motor 112, thereby adjusting the position of the first blocking part 121. This changes the angle between the extension line of the thigh 113 and the front-back direction of the body 200 when standing, allowing the legged robot 10 to have different standing postures, such as upright standing or semi-squatting standing. More specifically, the stepper motor can be an existing power-off self-locking motor to ensure that its shaft is difficult to rotate when power is not supplied.

[0074] In some embodiments, the main body of the stepper motor can be coaxially fixedly set with the second motor 112, and the limiting member 123 can be a turntable coaxially connected to the output shaft of the stepper motor. At the same time, the turntable is also coaxially fixedly connected to the output shaft of the first motor 111. Thus, the first motor 111 can synchronously drive the second motor 112, the stepper motor, and the turntable to rotate. The stepper motor can change the standing posture by causing the turntable and the second motor 112 to change the gripper of the thigh 113 relative to the body body 200 of the legged robot 10 when the first motor 111 and the second motor 112 are in the mechanically locked position of the standing state.

[0075] To facilitate the adjustment of the limiting member 123, in some embodiments, the first motor 111 or the second motor 112 is provided with multiple first mounting parts. These first mounting parts are spaced apart along the rotation arc of the second motor 112 relative to the first motor 111. The limiting member 123 is fixed to any one of the first mounting parts and is detachable from the first mounting part. In the legged robot 10 described above, the operator removes the limiting member 123 from the first mounting part and installs it on another first mounting part to change the position of the limiting member 123 on the first motor 111 or the second motor 112. Specifically, the first mounting part can be any of the detachable structures such as a screw hole, slot, insertion hole, or snap-fit ​​part, and the limiting member 123 is designed to cooperate with the first mounting part.

[0076] The second limiting structure 130 can be configured in various ways. In some embodiments, depending on the different positions of the second limiting structure 130, it can be configured in the following three ways:

[0077] In one method, the lower leg 114 can swing clockwise relative to the thigh 113 to a first extreme position. The second limiting structure 130 is used to restrict the lower leg 114 from swinging clockwise relative to the thigh 113 and stop it at the first extreme position, so that along the... Figure 4 as well as Figure 6 When moving in the direction X shown, the lower leg 114 can swing counterclockwise relative to the thigh 113 until it comes into contact with the outer wall of the thigh 113, reaching one end point of the swing. The lower leg 114 can be restricted from relative rotation with the thigh 113 by the second limiting structure 130 at the first extreme position, reaching the other end point of the swing, so as to obtain a larger swing angle, realize the switching of multiple movement postures, and facilitate the control of the standing state.

[0078] Method 2, see below Figure 4 as well as Figure 6The lower leg 114 can swing counterclockwise relative to the thigh 113 to a second extreme position. The second limiting structure 130 is used to restrict the lower leg 114 from swinging counterclockwise relative to the thigh 113 and stop it at the second extreme position, so that along the... Figure 4 as well as Figure 6 When moving in the direction X shown, the lower leg 114 can swing clockwise relative to the thigh 113 until it comes into contact with the outer wall of the thigh 113, reaching one end point of the swing. The lower leg 114 can be restricted from relative rotation with the thigh 113 by the second limiting structure 130 at the second extreme position, reaching the other end point of the swing, so as to obtain a larger swing angle, realize the switching of multiple movement postures, and facilitate the control of the standing state.

[0079] Method 3: The lower leg 114 can swing clockwise relative to the thigh 113 to a first extreme position. The second limiting structure 130 is used to restrict the lower leg 114 from swinging clockwise relative to the thigh 113 and stopping it at the first extreme position. Furthermore, the lower leg 114 can swing counterclockwise relative to the thigh 113 to a second extreme position. The second limiting structure 130 is used to restrict the lower leg 114 from swinging counterclockwise relative to the thigh 113 and stopping it at the second extreme position, so that along... Figure 4 as well as Figure 6 When moving in the direction X, the lower leg 114 can be restricted from relative rotation with the thigh 113 at the first extreme position by the second limiting structure 130, reaching one end point of the lower leg 114's swing. Similarly, the lower leg 114 can be restricted from relative rotation with the thigh 113 at the second extreme position by the second limiting structure 130, reaching the other end point of the lower leg 114's swing. This allows the leg body 110 to stand in both a reverse joint state and a normal joint state, thus achieving different standing states. Specifically, in the standing state, the angle between the extension line of the lower leg 114 and the extension line of the thigh 113 can be 60-150° to allow for a larger swing amplitude of the leg body 110, accommodating various postures during movement.

[0080] The second limiting structure 130 has various structural forms. In some embodiments, the second limiting structure 130 includes a second blocking part 131 and a second mating part 132. One of the second blocking part 131 and the second mating part 132 is disposed or formed on the thigh 113, and the other is disposed or formed on the calf 114. For example, see Figure 4 as well as Figure 6The second blocking part 131 is provided on the thigh 113, and the second mating part 132 is formed on the lower leg 114. When the leg body 110 is in a standing state, the second mating part 132 and the second blocking part 131 are limited and abutted, so that the second mating part 132 and the second blocking part 131 cannot continue to move relative to each other, thereby preventing the lower leg 114 from continuing to rotate relative to the thigh 113. Thus, the second limiting structure 130 restricts the rotation of the lower leg 114 relative to the thigh 113 when the leg body 110 switches from a moving state to a standing state.

[0081] The second blocking part 131 and the second mating part 132 can be configured in various ways. They can be directly disposed on the thigh 113 and the calf 114. However, to facilitate the configuration of the second limiting structure 130, in some embodiments, the second limiting structure 130 includes a blocking member 133, on which the second blocking part 131 is disposed, or the second blocking part 131 is formed on the blocking member 133. The blocking member 133 can be disposed on the thigh 113, and the fixed position of the blocking member 133 on the thigh 113 can be adjusted to adjust the angle between the thigh 113 and the calf 114 in a standing state; or, the blocking member 133 can be disposed on the calf 114, and the fixed position of the blocking member 133 on the thigh 113 can be adjusted to adjust the angle between the thigh 113 and the calf 114 in a standing state. In specific configurations, the blocking member 133 is installed together with the thigh 113 or lower leg 114 via threaded connection, snap-fit ​​connection, or interlocking mechanism. By making the blocking member 133 position adjustable, the angle between the thigh 113 and lower leg 114 can be adjusted, thereby adjusting the height and posture of the leg body 110 when standing, expanding the working scenarios of the legged robot 10, and improving its adaptability. Furthermore, by changing the limiting member 123, different second blocking parts 131 can be obtained to achieve different working states.

[0082] The second blocking part 131 can have various structural forms. It can be a protrusion provided on the thigh 113. In order to achieve self-locking standing in various standing postures, in some embodiments, the second blocking part 131 can be a fifth blocking block. The fifth blocking block is provided on the outer side of the thigh 113. The second mating part 132 can be directly the shell of the lower leg 114. The second mating part 132 can also be a slide groove 1141. The slide groove 1141 opens on the outer surface of the side plate of the lower leg 114 and extends along the rotation arc of the lower leg 114 in the standing state. The fifth blocking block is located on the rotation stroke of the lower leg 114 in the standing state. In specific settings, the number of fifth blocking blocks can be one, two, three or more. One fifth blocking block facilitates the setting and sliding control of the second limiting structure 130, while multiple fifth blocking blocks can ensure stability in the standing state.

[0083] To facilitate adjustment of the blocking member 133, in some embodiments, the legged robot 10 further includes a second actuator 300, which is communicatively connected to the control device and drively connected to the blocking member 133. See also Figure 9 The second actuator 300 can be mounted on the thigh 113. Alternatively, the second actuator 300 can be mounted on the calf 114. The second actuator 300 is used to adjust the fixed position of the stop 133 on the thigh 113 or the calf 114, so as to change the angle between the thigh 113 and the calf 114 in the standing position, thereby enabling different standing postures when in self-locking standing. In a specific setting, the second actuator 300 can be a telescopic motor, which is an existing motor used for telescopic devices. Its main function is to extend or retract the length of the telescopic device, such as a telescopic rod, by driving the device. The fixed end of the second actuator 300 is mounted on the thigh 113, and the output shaft of the second actuator 300 is fixedly connected to the blocking member 133. The control device sends an action command to the second actuator 300, which then actuates and drives the fifth blocking block on the blocking member 133 to slide in the slide groove 1141 to a set position. This changes the angle between the thigh 113 and the lower leg 114 when the blocking member 133 is locked in place, thus making it easier to change the standing posture of the leg module 100 during self-locking standing. The specific movement trajectory and driving method of the blocking member 133 can be adjusted and set as needed based on the existing drive source and structure.

[0084] To ensure the stability of the standing posture, in some embodiments, multiple second mounting portions are provided on the end of the thigh 113 near the lower leg 114 or the end of the lower leg 114 near the thigh 113. These second mounting portions are spaced apart along the rotation arc of the lower leg 114 relative to the thigh 113. A blocking member 133 is fixed to any of the second mounting portions and is detachable from the second mounting portion. In the aforementioned legged robot 10, the operator removes the blocking member 133 from the second mounting portion and attaches it to another second mounting portion to change the position of the second blocking member 131 on the thigh 113. This changes the standing posture of the leg module 100 during self-locking standing, and the second blocking member 131 exhibits better stability on the thigh 113, ensuring the stability of the standing posture. Specifically, the second mounting portion can be any of the detachable structures such as screw holes, slots, insertion holes, or snap-fit ​​parts, and the blocking member 133 is designed to cooperate with the second mounting portion.

[0085] Additionally, see Figure 10 This application also provides a motion control method for a legged robot as described in any of the above technical solutions, comprising the following steps:

[0086] Step S100: Collect motion state parameters of the legged robot 10, including the rotation angles of the first motor 111 and / or the second motor 112. In specific settings, in some scenarios, the legged robot 10 can be an inspection robot capable of performing inspection work. The first motor 111 and / or the second motor 112 can receive inspection commands from the control device. The first motor 111 and / or the second motor 112 can also collect their own rotation angles and transmit the collected rotation parameters to the control device for subsequent analysis.

[0087] In step S200, upon receiving the standing command and motion state parameters, when the control device controls the leg body 110 to switch from the motion state to the standing state, the control device controls the first motor 111 and the second motor 112 to stop outputting power. At this time, the leg body 110 remains in the standing state.

[0088] In one example, when no standing command is received, the leg body 110 continues to move; when a standing command is received, it is determined whether the leg body 110 should switch between the moving state and the standing state based on the rotation parameters of the first motor 111 and the second motor 112. In one embodiment, the control device has preset values, such as a preset time compared with the duration of movement and a preset angle compared with the rotation angle. The switching between the moving state and the standing state of the leg body 110 is determined by comparing the rotation parameters with the preset values.

[0089] In the above-described motion control method for the legged robot, the control device enables the leg body 110 to switch between a moving state, a standing state, and a moving state and a standing state. In specific operation, firstly, through step S100, motion state parameters of the legged robot 10 are collected. The first motor 111 and / or the second motor 112 acquire their own rotation parameters and transmit these rotation parameters to the control device. These rotation parameters include rotation angles that reflect the angle by which the first motor 111 and / or the second motor 112 have rotated. Then, in step S200, the control device analyzes the received standing command and motion state parameters. When the rotation angle of the first motor 111 and the second motor 112 reaches the set angle, the control device determines that the leg body 110 needs to switch from the motion state to the standing state. After switching to the standing state, the control device controls the first motor 111 and the second motor 112 to stop outputting power. At this time, the first limiting structure 120 restricts the second motor 112 from rotating relative to the first motor 111, and the thigh 113 stops moving. The second limiting structure 130 restricts the lower leg 114 from rotating relative to the thigh 113, and the lower leg 114 stops moving. The mechanical limiting of the first limiting structure 120 and the second limiting structure 130 with the leg body 110 keeps the self-locking mechanism in order to maintain the standing state.

[0090] To facilitate the control of the legged robot 10, in some embodiments, the motion state parameters also include a preset standing time. The preset standing time is a set standing time corresponding to the duration required for the legged robot 10 to perform standing inspections, and the standing time is not less than the duration required for standing inspections. The motion control method for the legged robot also includes the following steps:

[0091] In step S300, after the leg body 110 maintains a standing position for a preset time, the control device starts the first motor 111 and the second motor 112, and the leg body 110 switches from the standing state to the moving state. In some embodiments, the control device has a preset time and a timer that starts timing when the leg body 110 begins to stand. The standing time of the leg body 110 is compared with the preset time to determine whether the leg body 110 has switched from the standing state to the moving state. Through the combination of the above steps S100, S200, and S300, comprehensive control of the leg body 110 can be achieved.

[0092] For the legged robot 10 described above, which can electrically and automatically adjust the first limiting structure 120 and / or the second limiting structure 130 to flexibly adjust its standing state when stationary, in order to facilitate the switching of different standing postures, in some embodiments, the motion control method of the legged robot further includes the following steps:

[0093] In step S400, the control device sends an adjustment signal to the first driver to adjust the position of the limiting member 123 on the first motor 111 or the second motor 112. And / or, the control device sends an adjustment signal to the second driver 300 to adjust the fixed position of the blocking member 133 on the thigh 113 or the calf 114 to a set position.

[0094] In some embodiments, the control device is pre-set with adjustment signals corresponding to different amplitudes of movement and different standing postures. By sending different adjustment signals to the first driver, the first driver generates different movement trajectories. The output of the first driver outputs different movement trajectories, causing the limiting member 123 to move different distances on the first motor 111 or the second motor 112, thereby reaching different set positions and adjusting the swing amplitude of the leg body 110. By sending different adjustment signals to the second driver 300, the second driver 300 generates different movement trajectories. The output of the second driver 300 outputs different movement trajectories, causing the blocking member 133 to move different distances on the thigh 113 or the calf 114, thereby reaching different set positions. The switching of the leg body 110 to different standing postures is achieved through the abutment between the second mating part 132 and the second blocking part 131 on the blocking member 133 at different positions. It should be noted that the above step S400 can be set after step S200, before step S100, or between steps S100 and S200.

[0095] Through the above settings, on the one hand, the legged robot 10 can reduce power consumption in the standing state; on the other hand, it can flexibly set the time to maintain the standing state based on the inspection judgment, and set a longer time when a long standing time is required; moreover, for the legged robot 10, which can electrically and automatically adjust the first limit structure 120 and / or the second limit structure 130 to flexibly adjust the standing state when stationary, it can also determine the required stationary standing state based on the settings or the judgment of the environment during the inspection process, and synchronously adjust the position of the first limit structure 120 and / or the second limit structure 130 to ensure low power consumption in the standing state. It not only has the effect of reducing energy consumption, but also can flexibly adjust the mechanical self-locking standing state to meet the diverse low-power static standing requirements in various scenarios.

[0096] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0097] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A legged robot, characterized in that, include: The leg body includes a first motor, a second motor, a thigh, and a lower leg. The second motor is connected to the output shaft of the first motor and the thigh, respectively. The lower leg is hinged to the thigh, and the second motor is connected to the lower leg in a transmission connection. The first limiting structure is used to restrict the rotation of the second motor relative to the first motor when the leg body switches from a moving state to a standing state. The second limiting structure is used to restrict the rotation of the lower leg relative to the thigh when the leg body switches from a moving state to a standing state. The control device is electrically connected to the first motor and the second motor, and is used to control the first motor and the second motor to stop outputting power when the leg body switches from a moving state to a standing state; The first limiting structure includes a first blocking part, a first mating part, a limiting member, and a first driver. The first blocking part is disposed or formed on the limiting member. One of the limiting member and the first mating part is disposed or formed on the first motor, and the other is disposed or formed on the second motor. When the leg body is in a standing state, the first mating part and the first blocking part are limited and abutted together. The first driver is connected to the limiting member and is communicatively connected to the control device to adjust the position of the limiting member on the first motor or the second motor in the direction of rotation of the first motor relative to the second motor. And / or, the second limiting structure includes a second blocking part, a second mating part, a blocking member, and a second driver. The second blocking part is disposed or formed on the blocking member. One of the blocking member and the second mating part is disposed or formed on the thigh, and the other is disposed or formed on the calf. When the leg body is in a standing state, the second mating part and the second blocking part are limited and abutted. The second driver is connected to the blocking member and communicates with the control device to adjust the fixed position of the blocking member on the calf or the thigh.

2. The legged robot according to claim 1, characterized in that, The first blocking part includes two blocking surfaces, which are spaced apart from each other and located on an arc line with the output shaft of the first motor as the axis. The arc line is the motion trajectory line of the first mating part relative to the two blocking surfaces.

3. The legged robot according to claim 1, characterized in that, The lower leg can swing clockwise relative to the thigh to a first extreme position, and the second limiting structure is used to restrict the lower leg from swinging clockwise relative to the thigh and stop at the first extreme position; And / or, The lower leg can swing counterclockwise relative to the thigh to a second extreme position, and the second limiting structure is used to restrict the lower leg from swinging counterclockwise relative to the thigh and stop at the second extreme position.

4. A motion control method for a legged robot according to any one of claims 1-3, characterized in that, Includes the following steps: Collect motion state parameters, including the rotation angle of the first motor and / or the second motor; Based on the standing command and the motion state parameters, the leg body is controlled to switch from the motion state to the standing state, and the first motor and the second motor are controlled to stop outputting power in the standing state.

5. The motion control method for a legged robot according to claim 4, characterized in that, The motion state parameters also include a preset standing time, which is a set standing time corresponding to the time required for the footed robot to stand and inspect. The preset standing time is not less than the time required for the standing and inspection. The motion control method also includes that after the leg body maintains a standing state for a preset standing time, the control device controls the first motor and the second motor to start, and the leg body switches from the standing state to the motion state.

6. The motion control method for a legged robot according to claim 4 or 5, characterized in that, The motion control method further includes the following steps: The control device sends an adjustment signal to the first driver to adjust the position of the limiting member on the first motor or the second motor; and / or, the control device sends an adjustment signal to the second driver to adjust the fixed position of the blocking member on the thigh or calf to a set position.

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