Robotic device based on exoskeleton and humanoid robot function conversion

Abstract

This application relates to the field of exoskeleton and humanoid robot technology, specifically disclosing a robotic device based on the functional conversion between an exoskeleton and a humanoid robot. The device includes a wrist mechanism, upper limb arms, a torso skeleton, lower limb legs, and a foot mechanism. Both the upper limb arms and lower limb legs have an exoskeleton following working mode and a robot self-driving working mode. The lower limb legs are rotatably mounted on the torso skeleton, which is equipped with a lower limb reversing drive component, which is drivenly connected to the lower limb legs. The wrist mechanism includes a gripping mechanism, and the foot mechanism includes a supporting mechanism. The robotic device can freely switch between two different working modes: an exoskeleton robot and a humanoid robot. This allows for both the independent execution of multi-scenario tasks by a humanoid robot and the precise and efficient execution of tasks by human assistants. It also improves the robot's learning efficiency and motion execution accuracy, making it suitable for various application scenarios and work tasks.

Description

Technical Field

[0001] This application relates to the technical field of exoskeletons and humanoid robots, and in particular to robotic devices based on the functional conversion of exoskeletons and humanoid robots. Background Technology

[0002] Exoskeleton robots, also known as mechanical exoskeletons or powered exoskeletons, integrate sensing, control, and motion computing to provide operators with wearable mechanical structures that detect and sense human activity, using servo drives to reproduce movements. Currently, exoskeleton robots on the market mainly fall into two categories: the first is amplification / enhancing exoskeletons, primarily used in industrial fields; the second is assistive / rehabilitation exoskeletons, mainly used in the medical and health fields.

[0003] According to the driving principle, exoskeleton robots can be divided into two main categories: powered exoskeletons and passive exoskeletons. Powered exoskeletons are mostly used in full-body exoskeleton designs, using external power sources or carrying batteries to enhance the operator's strength. Passive exoskeletons are mostly half-body designs, do not carry power sources or use external power sources, and use transmission structures to bear the operator's load.

[0004] Traditional robots essentially perform specific tasks according to pre-programmed instructions. Typically, a single type of traditional robot can only perform one task or a very limited number of tasks. However, AI-driven humanoid robots are more intelligent, capable of performing tasks in various scenarios, greatly improving their versatility and adaptability. However, currently available humanoid robots do not yet achieve the level of complete accuracy in replicating human movements. Furthermore, due to the diversity of generalized tasks, humanoid robots based on large-scale AI models require pre-training to learn the tasks before they can perform autonomously. Conventional methods of remotely teaching humanoid robots to complete designated tasks involve separation between the human and the robot, resulting in low accuracy and the task not being clearly displayed in the operational space of either the robot or the operator.

[0005] In summary, the purpose of this application is to provide a robotic device that can switch between two different working modes: exoskeleton robot and humanoid robot. This device can enable humanoid robots to perform multi-scenario tasks independently, meet the needs of assisting humans in performing work tasks accurately and efficiently, and improve the robot's learning efficiency and motion execution accuracy. It is suitable for a variety of different application scenarios or work tasks. Summary of the Invention

[0006] In order to enable humanoid robots to perform multi-scenario tasks independently, meet the needs of assisting humans in performing work tasks accurately and efficiently, and improve the robot's learning efficiency and motion execution accuracy, and be applicable to a variety of different application scenarios or work tasks, this application provides a robot device based on exoskeleton and humanoid robot function conversion.

[0007] The robotic device based on the functional conversion of exoskeleton and humanoid robot provided in this application adopts the following technical solution: A robotic device based on exoskeleton and humanoid robot function conversion includes a wrist mechanism, upper limb arm, torso skeleton, lower limb leg, and foot mechanism with drive-connected components. Both the upper limb arm and lower limb leg have an exoskeleton following working mode and a robot self-driving working mode, and can switch between corresponding working modes according to different usage scenarios. The lower limb leg is rotatably mounted on the torso skeleton, which is equipped with a lower limb reversing drive component, which is drively connected to the lower limb leg. The wrist mechanism has a gripping mechanism for wear by a person to enable exoskeleton following, and the foot mechanism has a support mechanism for wear by a person to enable exoskeleton following.

[0008] By adopting the above technical solution, the upper limbs and lower limbs of the robot device work together to meet the operational requirements of the robot's self-driven working mode, thereby enabling the humanoid robot to perform multi-scenario tasks independently. When the exoskeleton-following working mode is required, the lower limb reversing drive drives the lower limbs to rotate and change direction, altering the working posture of the lower limbs in the original self-driven working mode. This ensures that the reversing posture of the lower limbs meets the operational requirements of the exoskeleton-following working mode. The robot device is then worn through the gripping mechanism of the wrist mechanism and the supporting mechanism of the foot mechanism, thereby assisting humans in performing tasks accurately and efficiently. When the robot device of this application is in the exoskeleton-following assisted state, it assists the human in completing tasks while also completing corresponding motion model training. Subsequently, after the human leaves the robot device, the robot device switches to humanoid robot mode and autonomously continues to complete the same or similar tasks. The robotic device can freely switch between two different working modes: exoskeleton robot and humanoid robot. It can enable humanoid robots to perform multi-scenario tasks independently, and also meet the needs of assisting humans to perform work tasks accurately and efficiently. At the same time, it can improve the robot's learning efficiency and the accuracy of its movements, making it suitable for a variety of different application scenarios or work tasks.

[0009] Preferably, the foot mechanism includes a foot support plate supported on the working surface, and the foot support plate is rotatably engaged with the lower limb leg.

[0010] By adopting the above technical solution, the foot support plate plays the role of supporting the robot device and realizing the walking function. Moreover, the foot support plate of the foot mechanism can remain stationary when the lower limb leg changes direction, thereby realizing the purpose of rotating the lower limb leg in place to change direction, without having to lift the lower limb leg to complete the changing direction action.

[0011] Preferably, the support mechanism includes a support plate that is flipped and installed on the foot mechanism. The support plate flips and unfolds in the exoskeleton following working mode to support the person. In the robot self-driven working mode, the support plate flips and folds and retracts into the lower limb leg.

[0012] By adopting the above technical solution, in the exoskeleton following working mode, the support plate can be flipped and unfolded for the person to stand on, while in the robot self-driven working mode, the support plate can be flipped and folded to the lower limbs to avoid affecting the lower limbs to perform normal movements.

[0013] Preferably, the supporting mechanism further includes a locking member; the locking member and the foot mechanism are engaged to lock the folded and flipped supporting plate, and the locking member and the foot mechanism are engaged to lock the unfolded supporting plate.

[0014] By adopting the above technical solution, the locking mechanism is used to lock the support plate in both the exoskeleton following working mode and the robot self-driving working mode, thereby improving the stability of the robot device in both working modes.

[0015] Preferably, the support plate is provided with a detection sensor for detecting the status of personnel.

[0016] By adopting the above technical solution, the detection sensors arranged on the support plate are used to detect and sense the state of the personnel, so as to better coordinate with the AI ​​artificial intelligence system, control system and computer system to adjust the movement posture of the robot device in the exoskeleton following working mode.

[0017] Preferably, the lower limb leg is connected to the torso skeleton by a hip joint drive connection mechanism. The hip joint drive connection mechanism includes a first hip joint drive component and a second hip joint drive component installed on the torso skeleton. The first hip joint drive component and the second hip joint drive component move synchronously to drive the lower limb leg to lift or lower. The first hip joint drive component and the second hip joint drive component move differentially to drive the lower limb leg to swing inward or outward.

[0018] By adopting the above technical solution, the hip joint drive connection mechanism utilizes the cooperation of the first and second hip joint drive components to achieve two different drive modes: synchronous motion and differential motion. This enables the lower limb leg to lift or lower under synchronous motion and the lower limb leg to swing inward or outward under differential motion. The combination of synchronous and differential rotation modes of the hip joint drive connection mechanism completes anthropomorphic walking movements of the lower limb legs. Anthropomorphic walking improves the stability of the robot when walking in self-driven or exoskeleton-following modes. At the same time, the hip joint drive connection mechanism can withstand greater loads, increasing the load limit of the robot device.

[0019] Preferably, both the first hip joint drive assembly and the second hip joint drive assembly include a hip joint drive member. The hip joint drive member is mounted on the trunk skeleton. The hip joint drive member rotatably drives a first hip joint connector. The first hip joint connector rotates along the lifting / lowering direction of the lower limb leg. The lower limb leg is rotatably connected to a second hip joint connector. The second hip joint connector rotates along the inward / outward swing direction of the lower limb leg. Furthermore, the first hip joint connector and the second hip joint connector are hinged together by a hip joint adapter.

[0020] By adopting the above technical solution, the hip joint drive component drives the first hip joint connector to rotate synchronously to realize the lower limb leg raising / lowering action. The hip joint drive component drives the first hip joint connector to rotate differentially, and drives the hip joint adapter to rotate through the second hip joint connector which is connected to the first hip joint connector to realize the lower limb leg swinging inward / outward action.

[0021] Preferably, the hip joint adapter includes a first hip joint adapter and a second hip joint adapter. The first hip joint adapter is hinged to the first hip joint connector, and the second hip joint adapter is hinged to the second hip joint connector. The first hip joint adapter and the second hip joint adapter are threadedly connected to a hip joint adjustment rod.

[0022] By adopting the above technical solution, the connection length of the hip joint adjustment rod between the first hip joint adapter and the second hip joint adapter can be adjusted, thereby achieving the purpose of adjusting and adapting to the range of motion of the lower limb leg lifting / lowering and the range of motion of inward / outward swinging.

[0023] Preferably, the lower limb leg is connected to the foot mechanism by an ankle joint drive connection mechanism. The ankle joint drive connection mechanism includes a first ankle joint drive component and a second ankle joint drive component installed on the lower limb leg. The first ankle joint drive component and the second ankle joint drive component move synchronously to drive the foot mechanism to lift or lower. The first ankle joint drive component and the second ankle joint drive component move differentially to drive the foot mechanism to invert or evert.

[0024] By adopting the above technical solution, the ankle joint drive connection mechanism utilizes the cooperation of the first and second ankle joint drive components to achieve two different drive modes: synchronous movement and differential movement. This enables the foot mechanism to lift or drop under synchronous movement and to invert or evert under differential movement. The combination of synchronous and differential rotation modes of the ankle joint drive connection mechanism completes the anthropomorphic walking motion of the foot mechanism. Anthropomorphic walking improves the stability of the robot when walking in self-driven or exoskeleton-following modes. At the same time, the ankle joint drive connection mechanism can withstand greater loads, increasing the load limit of the robot device.

[0025] Preferably, both the first ankle joint drive assembly and the second ankle joint drive assembly include an ankle joint drive member. The ankle joint drive member is mounted on the lower leg, and the ankle joint drive member rotatably drives a first ankle joint connector. The first ankle joint connector rotates along the upward / downward direction of the foot mechanism. The foot mechanism is rotatably connected to the lower leg along the inversion / outversion direction, and the foot mechanism is hinged to the first ankle joint connector with a second ankle joint connector.

[0026] By adopting the above technical solution, the ankle joint drive component drives the first ankle joint connector to rotate synchronously, so as to realize the foot mechanism lifting / lowering action. The ankle joint drive component drives the first ankle joint connector to rotate differentially, and drives the second ankle joint connector to rotate through the first ankle joint connector, so as to realize the foot mechanism inversion / outversion action.

[0027] Preferably, the second ankle joint connector includes a first ankle joint adapter and a second ankle joint adapter. The first ankle joint adapter is hinged to the first ankle joint connector, and the second ankle joint adapter is hinged to the foot mechanism. An ankle joint adjustment rod is threadedly connected to the first ankle joint adapter and the second ankle joint adapter.

[0028] By adopting the above technical solution, the connection length of the ankle joint adjustment rod between the first and second ankle joints can be adjusted, thereby achieving the purpose of adjusting and adapting to the range of motion of the foot mechanism for lifting / lowering and inversion / outversion.

[0029] Preferably, the lower limb leg includes a thigh mechanism and a calf mechanism, the thigh mechanism is driven to the torso skeleton, the calf mechanism is driven to the thigh mechanism, and the foot mechanism is driven to the calf mechanism.

[0030] By adopting the above technical solution, the thigh mechanism, calf mechanism and foot mechanism are driven and connected. The anthropomorphic lower limb and foot structure design is conducive to improving the flexibility of movement execution and has good practicality and adaptability to multiple scenarios and tasks.

[0031] Preferably, the thigh mechanism and the lower leg mechanism are drivenly connected by a knee joint drive connection mechanism, which drives the thigh mechanism and the lower leg mechanism to rotate relative to each other or to rotate relative to each other away; the knee joint drive connection mechanism includes a knee joint drive component, which is installed on the thigh mechanism, and is drivenly connected to a first knee joint connector, which rotates along the direction of raising / lowering the lower limb leg, and is hinged to the lower leg mechanism by a second knee joint connector.

[0032] By adopting the above technical solution, the knee joint drive component of the knee joint drive connection mechanism drives the first knee joint connector to rotate, and then drives the lower leg mechanism to move through the second knee joint connector that is connected to the first knee joint connector, thereby achieving the purpose of anthropomorphic leg extension / retraction walking movement of the thigh mechanism and the lower leg mechanism.

[0033] Preferably, the upper limb includes a large arm mechanism and a forearm mechanism, the large arm mechanism is driven to be connected to the torso skeleton, the forearm mechanism is driven to be connected to the large arm mechanism, and the forearm mechanism is driven to be connected to a wrist mechanism.

[0034] By adopting the above technical solution, the upper arm mechanism, forearm mechanism and wrist mechanism are driven and connected. The anthropomorphic upper limb and hand structure design is conducive to improving the flexibility of movement execution and has good practicality and adaptability to multiple scenarios and tasks.

[0035] Preferably, the wrist mechanism includes a wrist drive component, which is rotatably connected to a front flange joint.

[0036] By adopting the above technical solution, the front flange joint of the wrist drive can be equipped with different robotic arms, tools, etc. according to different scenarios and work tasks, which improves the flexibility, practicality and adaptability of the robot device in the self-driven working mode of the robot.

[0037] Preferably, the gripping mechanism includes a gripping connector and a gripping wearable component. The gripping connector is connected to the wrist mechanism, and the gripping wearable component is detachably connected to the gripping connector. The gripping wearable component is used for hand gripping.

[0038] By adopting the above technical solution, in the exoskeleton following working mode, the person can grasp the wearable device and drive the upper limb arm to follow the movement through the grip connector, which is convenient for the person to use and operate.

[0039] Preferably, the relative position and posture of the gripping wearable and the gripping connector are adjustable.

[0040] By adopting the above technical solution, the relative position and posture of the gripping wearable and gripping connector can be adjusted according to different scenarios, work tasks and different people's wearing habits, which has good flexibility and adaptability.

[0041] Preferably, it also includes a head mechanism, which includes a head frame mounted on the torso skeleton, and the head frame is equipped with a vision sensor.

[0042] By adopting the above technical solutions, the visual sensors of the head mechanism can be used to better coordinate with the AI ​​artificial intelligence system, control system, and computer system to adjust the robot's movements and postures in exoskeleton following mode and robot self-driving mode.

[0043] In summary, this application includes at least one of the following beneficial technical effects: 1. When the robotic device of this application is in an exoskeleton-assisted state, it is in a reverse knee joint position, facilitating human access. While assisting the user in completing tasks, the robot also completes corresponding motion model training. After the user leaves the robot, it switches to humanoid robot mode, where it is in a normal knee joint position and autonomously continues to perform the same or similar tasks. The robotic device can freely switch between exoskeleton robot and humanoid robot modes, enabling it to perform multi-scenario tasks independently as a humanoid robot, while also meeting the need for assisting humans in performing tasks accurately and efficiently. Furthermore, it improves the robot's learning efficiency and motion execution accuracy, making it suitable for various application scenarios and tasks. 2. The hip joint drive connection mechanism implements two different drive modes: synchronous motion and differential motion. Synchronous motion enables the lower limb to lift or lower, while differential motion enables the lower limb to swing inward or outward. Similarly, the ankle joint drive connection mechanism also implements two different drive modes: synchronous motion and differential motion. Synchronous motion enables the foot mechanism to lift or lower, while differential motion enables the foot mechanism to rotate inward or outward. The synchronous and differential rotation modes of the hip and ankle joint drive connection mechanisms work together to achieve anthropomorphic walking movements of the lower limbs. This anthropomorphic walking improves the stability of the robot in self-driven or exoskeleton-following modes, while also meeting greater load requirements. 3. In robot learning and training application scenarios, the robot can switch from self-driven working mode to exoskeleton following working mode, and the staff wears the robot device to conduct simulated training to supplement the shortcomings of existing robot AI large model learning and training and robot sensing and remote control learning and training. Then, it can switch back to the robot self-driven working mode to perform robot self-driven operations, which is conducive to improving the efficiency of robot learning and training and the accuracy of robot self-driven action execution after learning and training. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the overall structure of the robot device based on the function conversion between exoskeleton and humanoid robot in the exoskeleton following working mode in the embodiments of this application; Figure 2 This is a schematic diagram of the overall structure of the robot device based on the function conversion of exoskeleton and humanoid robot in the robot self-driving working mode in the embodiments of this application; Figure 3 This is a schematic diagram of the upper limb arm, wrist mechanism, and gripping mechanism in the embodiments of this application; Figure 4 This is a schematic diagram of the lower limb leg, foot mechanism, and support mechanism in the exoskeleton following working mode in the embodiments of this application; Figure 5 yes Figure 4 Enlarged diagram of section A in the middle; Figure 6 This is a schematic diagram of the lower limb leg, foot mechanism, and support mechanism in the robot's self-driven working mode, as described in the embodiments of this application. Figure 7 yes Figure 6 Enlarged diagram of section B; Figure 8 This is a schematic diagram of the back structure of the robot device in the robot self-driving working mode in the embodiments of this application; Figure 9This is a schematic diagram of the lower limb leg, foot mechanism, and support mechanism in the robot's self-driven working mode, as described in the embodiments of this application.

[0045] Explanation of reference numerals in the attached drawings: 1. Head mechanism; 11. Head frame; 12. Vision sensor; 2. Torso skeleton; 3. Upper limb arm; 31. Upper arm mechanism; 311. First upper arm drive component; 312. Second upper arm drive component; 32. Forearm mechanism; 321. First forearm drive component; 322. Second forearm drive component; 4. Wrist mechanism; 41. Wrist drive component; 411. First wrist drive component; 412. Second wrist drive component; 42. Front flange joint; 5. Lower limb leg; 51. Thigh 52. Lower leg mechanism; 53. Hip joint drive connection mechanism; 531. First hip joint drive assembly; 532. Second hip joint drive assembly; 533. Hip joint drive component; 534. First hip joint connector; 5341. Mounting part; 535. Second hip joint connector; 5351. Fixing part; 536. Hip joint adapter; 5361. Hip joint adjusting rod; 5362. First hip joint adapter; 5363. Second hip joint adapter; 537. Hip joint mounting 538. Outer shell; 539. First-stage rotating shaft structure of hip joint; 54. Second-stage rotating shaft structure of hip joint; 55. Knee joint drive connection mechanism; 541. Knee joint drive component; 542. First connecting component of knee joint; 543. Second connecting component of knee joint; 55. Ankle joint drive connection mechanism; 551. First drive assembly of ankle joint; 552. Second drive assembly of ankle joint; 553. Ankle joint drive component; 554. First connecting component of ankle joint; 555. Second connecting component of ankle joint; 5551. 5552. Ankle joint adjustment rod; 5553. Ankle joint first adapter; 5554. Ankle joint second adapter; 55555. Ankle joint first-stage rotation shaft structure; 5555. Ankle joint second-stage rotation shaft structure; 6. Foot mechanism; 61. Foot support plate; 62. Foot adapter frame; 63. Foot extension frame; 7. Lower limb reversing drive component; 8. Grip mechanism; 81. Grip connector; 82. Grip wearing component; 9. Bearing mechanism; 91. Bearing plate; 92. Locking component; 93. Detection sensor. Detailed Implementation

[0046] The following is in conjunction with the appendix Figure 1-9 This application will be described in further detail.

[0047] Combination Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the overall structure of a robotic device based on the functional transformation of exoskeleton and humanoid robot in the exoskeleton-following working mode. Figure 2This is a schematic diagram of the overall structure of a robot device based on exoskeleton and humanoid robot function conversion in self-driven operation mode. The robot device includes a head mechanism 1, a torso skeleton 2, upper limb arms 3, wrist mechanisms 4, lower limb legs 5, and foot mechanisms 6. The upper limb arms 3 and wrist mechanisms 4 work together to complete the upper limb and hand movements of the robot device, while the lower limb legs 5 and foot mechanisms 6 work together to complete the lower limb and foot movements of the robot device. In this embodiment, both the upper limb arms 3 and lower limb legs 5 are designed with two different operating modes: an exoskeleton following mode and a self-driven robot mode. The upper limb arms 3 and lower limb legs 5 can freely switch between the corresponding operating modes according to different usage scenarios and work tasks to suit various application scenarios or work tasks.

[0048] It should be noted that, in this embodiment, all drive mechanisms and their control systems for the upper arm 3 and lower leg 5 are applicable to both the exoskeleton following mode and the robot's self-driven mode, and meet the switching requirements between the two different operating modes. This embodiment addresses the technical solution for the mechanical structure of the robot device, rather than the control and drive components.

[0049] Furthermore, since the walking posture of the lower limb leg 5 is different in the two different working modes of exoskeleton following mode and robot self-driving mode, in order to meet the requirements of the robot device's walking stability, a lower limb leg reversal scheme was designed to achieve the purpose of switching the walking posture of the lower limb leg 5 in different working modes.

[0050] Combination Figure 1 and Figure 2 As shown, the lower limb leg reversing scheme involves two sets of lower limb legs 5 rotatably connected to the torso frame 2. These lower limb legs 5 are driven to rotate by lower limb reversing drive units 7 mounted on the torso frame 2, thereby achieving the purpose of reversing the lower limb leg 5. In this embodiment, a servo motor is used as the lower limb reversing drive unit 7. Both sets of lower limb reversing drive units 7 are fixedly installed on the left and right sides of the lower end of the torso frame 2 via bracket structures such as mounting frames, and the output shaft axis of the servo motor is set along the Z-axis direction.

[0051] Based on the lower limb leg reversal scheme, this application embodiment further designs a gripping mechanism 8 and a support mechanism 9 for cooperative use. The gripping mechanism 8 is installed on the wrist mechanism 4, and the support mechanism 9 is installed on the foot mechanism 6. The gripping mechanism 8 is used for the person's hand to grasp, while the support mechanism 9 is used for the person to stand and support, thereby meeting the exoskeleton wearing requirements of the robot device in the exoskeleton following working mode.

[0052] The torso skeleton 2 in this embodiment can be designed with a corresponding skeleton structure according to different usage scenarios and work tasks, as long as it can meet the adaptation and installation of the upper limb arm 3, lower limb leg 5, head mechanism 1 and the drive structure and drive connection mechanism of each part. This application does not make any specific limitations.

[0053] The following sections describe in detail the structure, drive structure, and drive connection mechanism of the five main components of the robot device, following the order of upper limb arm 3, wrist mechanism 4, lower limb leg 5, foot mechanism 6, and head mechanism 1. It should be noted that the structures and principles of the two sets of upper limb arms 3 and the two sets of wrist mechanisms 4 are identical; therefore, the following sections will only use one set of upper limb arms 3 and its connected set of wrist mechanisms 4 as examples to describe their respective structures, drive structures, and drive connection mechanisms. Similarly, the structures and principles of the two sets of lower limb legs 5 and the two sets of foot mechanisms 6 are also identical; therefore, the following sections will only use one set of lower limb legs 5 and its connected set of foot mechanisms 6 as examples to describe their respective structures, drive structures, and drive connection mechanisms. Furthermore, the structure of the gripping mechanism 8 will be described in detail when introducing the wrist mechanism 4, and the structure of the supporting mechanism 9 will be described in detail when introducing the foot mechanism 6.

[0054] For ease of description, the following text uses the X-axis, Y-axis and Z-axis for definition. The X-axis direction mentioned below is the horizontal direction, the Y-axis direction is the direction perpendicular to the X-axis in the horizontal plane, and the Z-axis direction is the vertical direction perpendicular to the horizontal plane containing X and Y.

[0055] upper arm Combination Figure 2 and Figure 3 As shown, Figure 3 This is a schematic diagram of the upper limb arm, wrist mechanism, and gripping mechanism in an embodiment of this application. In this embodiment, the upper limb arm 3 includes a drive-connected upper arm mechanism 31 and a forearm mechanism 32. The upper arm mechanism 31 is drive-connected to the torso skeleton 2, and the forearm mechanism 32 is drive-connected to the wrist mechanism 4, thereby realizing anthropomorphic upper limb and hand movements.

[0056] Specifically, refer to Figure 3 As shown, a first drive unit 311 for the upper arm is installed on one side of the torso frame 2. A servo motor can be used as the first drive unit 311 to drive the upper arm mechanism 31 to rotate around the X-axis. The output end of the first drive unit 311 is connected to a second drive unit 312 for the upper arm. Similarly, a servo motor can be used as the second drive unit 312 to drive the upper arm mechanism 31 to swing inward toward one side of the torso frame 2 or swing outward toward the other side of the torso frame 2.

[0057] The upper arm mechanism 31 has a forearm first drive member 321 and a forearm second drive member 322 fixedly mounted at the end of the arm segment. A servo motor can also be used as the forearm first drive member 321. The output shaft of the forearm first drive member 321 drives the forearm segment of the forearm mechanism 32, which is connected to the forearm second drive member 322, to rotate along the output shaft axis of the forearm first drive member 321. Furthermore, a servo motor and a synchronous pulley set can be used in combination as the forearm second drive member 322 to drive the arm segment of the forearm mechanism 32 to rotate along the output shaft axis of the servo motor of the forearm second drive member 322.

[0058] Of course, the specific number and shape of arm segments used in the upper limb arm 3, the designed upper limb degrees of freedom, and the position and shape of upper limb joints can all be adaptively adjusted according to different usage scenarios and work tasks.

[0059] Wrist mechanism and grip mechanism Combination Figure 2 and Figure 3 As shown in the embodiment of this application, the wrist mechanism 4 includes a wrist drive 41 and a front flange joint 42 driven and connected by the wrist drive 41, and the gripping mechanism 8 is integrated and installed on the front flange joint 42, thereby realizing human-like hand movements and meeting the switching requirements of exoskeleton following working mode and robot self-driving working mode. At the same time, the front flange joint 42 is used to realize the purpose of installing different types of robotic hands or operating tools.

[0060] Specifically, refer to Figure 3 As shown, the wrist drive unit 41 includes a first wrist drive unit 411 and a second wrist drive unit 412, with the front flange connector 42 directly connected to the second wrist drive unit 412. The first wrist drive unit 411 is fixedly installed at the end of the arm segment of the forearm mechanism 32. A servo motor and a synchronous pulley set can be used as the first wrist drive unit 411 to drive the second wrist drive unit 412 and the front flange connector 42 as a whole to perform a wrist rotation along the output shaft axis of the first wrist drive unit 411. Furthermore, a servo motor can be used as the second wrist drive unit 412 to drive the front flange connector 42 to perform a self-rotation motion along the output shaft axis of the second wrist drive unit 412.

[0061] The gripping mechanism 8 includes a gripping connector 81 fixedly connected to the second wrist drive member 412. A gripping wearable member 82 is fixedly mounted on the gripping connector 81 for use by a person's hand. In this embodiment, the gripping connector 81 is locked to the front end of the servo motor housing and extends toward the torso frame 2. The gripping wearable member 82 is designed as a ring structure that facilitates hand gripping and is locked to the gripping connector 81 by screws. The relative position and posture of the gripping wearable member 82 and the gripping connector 81 can be adjusted according to different usage scenarios, work tasks, and different people's gripping habits.

[0062] lower limbs Combination Figure 1 and Figure 4 As shown, Figure 4 This is a schematic diagram of the lower limb leg, foot mechanism, and support mechanism in the exoskeleton following working mode according to the embodiments of this application. In the embodiments of this application, the lower limb leg 5 includes a thigh mechanism 51 and a lower leg mechanism 52 with drive connection. The thigh mechanism 51 is driven to the torso skeleton 2, and the lower leg mechanism 52 is driven to the foot mechanism 6, thereby realizing anthropomorphic lower limb and foot movements. Based on this, the torso skeleton 2 is driven to the thigh mechanism 51 by a hip joint drive connection mechanism 53, which drives the thigh mechanism 51 to complete lifting or lowering movements and inward or outward swinging movements. The thigh mechanism 51 is driven to the lower leg mechanism 52 by a knee joint drive connection mechanism 54, which drives the thigh mechanism 51 and the lower leg mechanism 52 to complete relatively close leg retraction movements or relatively far leg extension movements. The lower limb leg 5 is connected to the foot mechanism 6 by an ankle joint drive connection mechanism 55, which completes the lifting or lowering movements of the foot mechanism 6 and inward or outward rotation movements, further improving the anthropomorphism of the lower limb and foot movements.

[0063] Reference Figure 4As shown, the hip joint drive connection mechanism 53 includes a first hip joint drive assembly 531 and a second hip joint drive assembly 532 that work together. The first hip joint drive assembly 531 and the second hip joint drive assembly 532 are fixedly mounted on the output shaft of the lower limb reversing drive component 7 by a bracket structure such as a mounting bracket. The first hip joint drive assembly 531 and the second hip joint drive assembly 532 are arranged symmetrically about the output shaft axis of the lower limb reversing drive component 7 to satisfy the execution of the lower limb reversing action. Both the first hip joint drive assembly 531 and the second hip joint drive assembly 532 include a hip joint drive member 533. In this embodiment, a servo motor is used as the hip joint drive member 533. The output shaft of the hip joint drive member 533 is driven and connected to a first hip joint connector 534. Simultaneously, a second hip joint connector 535 is rotatably mounted on the leg joint of the thigh mechanism 51. A hip joint adapter 536 is hinged between the first hip joint connector 534 and the second hip joint connector 535, further defining the first hip joint connector 534 along the thigh mechanism 51. When the leg joint rotates in the direction of raising / lowering, and the second hip joint connector 535 rotates in the direction of inward / outward swing of the leg joint along the thigh mechanism 51, the hip joint drive members 533 of the first hip joint drive assembly 531 and the second hip joint drive assembly 532 can realize the raising / lowering action of the lower limb leg 5 when the output power is the same, that is, when they move synchronously. When the output power of the first hip joint drive assembly 531 and the second hip joint drive assembly 532 is different, that is, when they move differentially, the inward / outward swing action of the lower limb leg 5 can be realized.

[0064] It is important to note that, in combination Figure 4 and Figure 5 As shown, Figure 5 for Figure 4Enlarged schematic diagram of part A. In this embodiment, both the first hip joint drive assembly 531 and the second hip joint drive assembly 532 further include a hip joint mounting housing 537. The hip joint mounting housing 537 is fixedly installed at the lower end of the motor housing and mounting bracket of the hip joint drive component 533, and is connected to the leg joint of the thigh mechanism 51 through a two-stage rotating shaft structure to achieve multi-axis rotational connection. The rotation axis of the first-stage hip joint rotating shaft structure 538 is parallel to the horizontal plane where the X-axis and Y-axis are located to meet the needs of lifting / lowering the lower limb leg 5. The second-stage hip joint rotating shaft structure 539, located at the top of the leg joint of the thigh mechanism 51, is rotatably connected to the first-stage hip joint rotating shaft structure 538 to meet the needs of swinging the lower limb leg 5 inward / outward. The second hip joint connector 535 is fixedly installed at the second-stage rotation shaft structure 539 of the hip joint, and the second hip joint connector 535 extends symmetrically to the left and right sides to form a fixing part 5351 and is hinged to the corresponding hip joint adapter 536, thereby realizing the inward / outward swing of the lower limb leg 5.

[0065] Based on this, refer to Figure 4 As shown, the hip joint adapter 536 is further designed as an adjustable rod structure to adapt to changes in the range of motion of the lower limb leg 5, meeting the needs of different usage scenarios and work tasks. Specifically, the hip joint adapter 536 includes a hip joint adjustment rod 5361 with a long straight rod-like structure. One end of the hip joint adjustment rod 5361 is coaxially threaded to a first hip joint adapter 5362, while the other end of the hip joint adjustment rod 5361 is coaxially threaded to a second hip joint adapter 5363. Furthermore, because the first hip joint connector 534 is designed as a disc-shaped structure, to facilitate driving and installation with the hip joint drive component 533, the first hip joint connector 534 extends outward toward the motor housing and mounting bracket to form a mounting portion 5341. The mounting portions 5341 of the two sets of first hip joint connectors 534 are also arranged symmetrically from left to right to facilitate connection with the hip joint adapter 536. The first hip joint adapter 5362 is hinged to the corresponding mounting part 5341, and the second hip joint adapter 5363 is hinged to the corresponding fixing part 5351, thereby achieving the purpose of adjustable transmission connection.

[0066] Reference Figure 4As shown, the knee joint drive connection mechanism 54 includes a knee joint drive component 541, which is fixedly installed on the leg joint of the thigh mechanism 51. The output end of the knee joint drive component 541 is driven to the leg joint of the lower leg mechanism 52 through a transmission mechanism. The leg joints of the thigh mechanism 51 and the lower leg mechanism 52 are rotatably connected through a rotating shaft, thereby achieving the purpose of relative rotation of the leg joints of the thigh mechanism 51 and the lower leg mechanism 52 towards or away from each other. When the lower limb leg 5 switches working modes, the relative posture of the thigh mechanism 51 and the lower leg mechanism 52 can be finely adjusted within a certain range to better adapt to the exoskeleton following working mode or the robot self-driving working mode.

[0067] In this embodiment, a servo motor is used as the knee joint drive component 541, and the servo motor is integrated and fixed to the leg joint of the thigh mechanism 51. The transmission mechanism of the knee joint drive connection mechanism 54 specifically includes a first knee joint connector 542 and a second knee joint connector 543. The first knee joint connector 542 is driven and connected to the output shaft of the knee joint drive component 541, and the first knee joint connector 542 rotates in the direction of raising / lowering the lower limb leg 5. The second knee joint connector 543 is designed as a long straight rod structure. One end of the second knee joint connector 543 in the length direction is hinged to the first knee joint connector 542, and the other end of the second knee joint connector 543 in the length direction is hinged to the leg joint of the lower leg mechanism 52.

[0068] Reference Figure 4As shown, the ankle joint drive connection mechanism 55 includes a first ankle joint drive assembly 551 and a second ankle joint drive assembly 552 that cooperate with each other. The first ankle joint drive assembly 551 and the second ankle joint drive assembly 552 are arranged symmetrically about the output shaft axis of the lower limb reversing drive member 7. Both the first ankle joint drive assembly 551 and the second ankle joint drive assembly 552 include an ankle joint drive member 553. In this embodiment, a servo motor is used as the ankle joint drive member 553. Both sets of ankle joint drive members 553 are integrated and installed on the leg joint of the lower leg mechanism 52 and are arranged symmetrically. The output shaft of the ankle joint drive member 553 is driven and connected to the first ankle joint connector 554. The first ankle joint connector 554 is hinged to the second ankle joint connector 555 of the foot mechanism 6, further defining the ankle joint. When the first connector 554 rotates along the upward / downward direction of the foot mechanism 6, the ankle joint drive 553 of the first ankle joint drive assembly 551 and the second ankle joint drive assembly 552 can realize the upward / downward movement of the foot mechanism 6 when the output power is the same, that is, when they move synchronously. When the output power of the first ankle joint drive assembly 551 and the second ankle joint drive assembly 552 is different, that is, when they move differentially, the inversion / outversion movement of the foot mechanism 6 can be realized.

[0069] Building upon this, the second ankle joint connector 555 is further designed as an adjustable rod structure to adapt to changes in the range of motion of the foot mechanism 6, meeting the needs of different usage scenarios and tasks. Specifically, the second ankle joint connector 555 includes an ankle joint adjusting rod 5551, which is a long straight rod structure. One end of the ankle joint adjusting rod 5551 is coaxially threaded to an ankle joint first adapter 5552, while the other end of the ankle joint connector is coaxially threaded to an ankle joint second adapter 5553. The ankle joint first adapter 5552 is hinged to the corresponding ankle joint first connector 554, and the ankle joint second adapter 5553 is hinged to the corresponding foot mechanism 6, thereby achieving the purpose of adjustable transmission connection.

[0070] Foot mechanism and load-bearing mechanism Combination Figure 4 and Figure 6 As shown, Figure 6 This is a schematic diagram of the lower limb leg, foot mechanism, and support mechanism in the robot's self-driven working mode, as described in this application embodiment. The foot mechanism 6 includes a foot support plate 61, and a foot adapter frame 62 is rotatably mounted on the foot support plate 61 along a direction perpendicular to the support plane of the foot support plate 61. Combined with... Figure 7 As shown, Figure 7 for Figure 6Enlarged schematic diagram of section B. The second ankle joint adapter 5553 of the ankle joint drive connection mechanism 55 is hinged to one side of the foot adapter 62. The foot adapter 62 first forms a rotatable connection with the leg joint of the lower leg mechanism 52 through the first-stage rotation shaft structure 556 of the ankle joint to meet the inversion / outversion movement requirements of the foot mechanism 6. Then, it forms a rotatable connection with the first-stage rotation shaft structure 556 of the ankle joint through the second-stage rotation shaft structure 557 of the ankle joint to meet the lifting / lowering movement requirements of the foot mechanism 6.

[0071] Combination Figure 4 and Figure 8 As shown, Figure 8 This is a schematic diagram of the back structure of the robot device in the self-driven working mode of this application embodiment. To facilitate the installation of the support mechanism 9, a foot extension frame 63 is also fixedly installed on the foot adapter frame 62. In this application embodiment, the support mechanism 9 includes a support plate 91, which is flipped and connected to the foot extension frame 63 via a rotating shaft structure. Furthermore, the foot extension frame 63 has two sets of limiting holes corresponding to different working positions of the support plate 91, and correspondingly, the support plate 91 has two sets of fixing holes corresponding to two different working modes.

[0072] Reference Figure 4 As shown, the first set of limiting holes and corresponding fixing holes are provided through the locking member 93, thereby achieving the locking of the support plate 91 in the exoskeleton following working mode; or, refer to Figure 9 As shown, Figure 9 This is a schematic diagram of the lower limb leg, foot mechanism, and support mechanism in the robot's self-driven working mode, as shown in this embodiment. The support plate 91 is locked in the robot's self-driven working mode by means of a locking member 93 passing through a second set of limiting holes and corresponding fixing holes. Bolts or similar materials can be used as the locking member 93.

[0073] In the exoskeleton following working mode, the support plate 91 flips, unfolds, and locks to support personnel. In the robot self-driven working mode, the support plate 91 flips, folds, and closes to the lower limb leg 5 and locks to avoid motion interference problems that could affect the normal execution of the robot device.

[0074] It should be noted that, referring to Figure 4 As shown, the support plate 91 is equipped with a detection sensor 93 for detecting the status of the personnel, such as a force sensor, to collect personnel movement data, especially lower limb movement data, so as to enable the control system or computer system to adjust the posture of the robot device or improve the learning and training capabilities of the robot device.

[0075] Head organization In the embodiments of this application, combined with Figure 1 and Figure 2 As shown, the head mechanism 1 includes a head frame 11 and a vision sensor 12 mounted on the head frame 11. The head frame 11 is fixedly mounted at the upper end or back of the torso frame 2 and extends upwards from the torso frame 2. The vision sensor 12 is fixedly mounted on the head frame 11 and can be a CCD camera, a vision camera, or the like.

[0076] Of course, the shape of the headframe 11 and its specific installation position on the torso frame 2, the specific selection and number of vision sensors 12, and the specific installation position of the vision sensors 12 on the headframe 11 can all be adaptively adjusted according to different usage scenarios and work tasks. Moreover, infrared sensors, lidar, depth vision sensors 12, etc., can be further integrated and installed on the headframe 11 to construct a multimodal information acquisition and input mode for the robot device.

[0077] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic device based on the functional conversion of exoskeleton and humanoid robot, comprising a wrist mechanism (4) with drive connection, an upper limb arm (3), a torso skeleton (2), a lower limb leg (5), and a foot mechanism (6), characterized in that: The upper limb arm (3) and the lower limb leg (5) both have an exoskeleton following working mode and a robot self-driving working mode. The upper limb arm (3) and the lower limb leg (5) switch the corresponding working mode according to different usage scenarios. The lower limb leg (5) is rotatably mounted on the torso frame (2). The torso frame (2) is provided with a lower limb reversing drive (7). The lower limb reversing drive (7) is driven to connect with the lower limb leg (5). When the robot device is in the exoskeleton following working mode, the robot device is in the reverse knee joint state. When the robot device switches to the robot self-driving working mode, the robot device is in the normal knee joint state. The wrist mechanism (4) is provided with a gripping mechanism (8) for personnel to wear and realize exoskeleton following. The foot mechanism (6) is provided with a bearing mechanism (9) for personnel to wear and realize exoskeleton following.

2. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 1, characterized in that: The foot mechanism (6) includes a foot support plate (61) supported on the working surface, and the foot support plate (61) and the lower leg (5) are in rotational engagement.

3. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 1 or 2, characterized in that: The support mechanism (9) includes a support plate (91) that is flipped and installed on the foot mechanism (6). The support plate (91) flips and unfolds in the exoskeleton following working mode and is used to support personnel. In the robot self-driving working mode, the support plate (91) flips and folds and is folded into the lower leg (5).

4. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 3, characterized in that: The support mechanism (9) also includes a locking member (93); the locking member (93) and the foot mechanism (6) are engaged to lock the folded support plate (91), and the locking member (93) and the foot mechanism (6) are engaged to lock the unfolded support plate (91).

5. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 3, characterized in that: The support plate (91) is equipped with a detection sensor (93) for detecting the status of personnel.

6. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 1, characterized in that: The lower leg (5) is connected to the torso frame (2) by a hip joint drive connection mechanism (53). The hip joint drive connection mechanism (53) includes a first hip joint drive component (531) and a second hip joint drive component (532) installed on the torso frame (2). The first hip joint drive component (531) and the second hip joint drive component (532) move synchronously to drive the lower leg (5) to lift or lower. The first hip joint drive component (531) and the second hip joint drive component (532) move differentially to drive the lower leg (5) to swing inward or outward.

7. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 6, characterized in that: Both the first hip joint drive assembly (531) and the second hip joint drive assembly (532) include a hip joint drive member (533). The hip joint drive member (533) is mounted on the trunk skeleton (2). The hip joint drive member (533) rotatably drives a first hip joint connector (534). The first hip joint connector (534) rotates along the lifting / lowering direction of the lower limb leg (5). The lower limb leg (5) is rotatably connected to a second hip joint connector (535). The second hip joint connector (535) rotates along the inward / outward swing direction of the lower limb leg (5). The first hip joint connector (534) and the second hip joint connector (535) are hinged together by a hip joint adapter (536).

8. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 7, characterized in that: The hip joint adapter (536) includes a first hip joint adapter (5362) and a second hip joint adapter (5363). The first hip joint adapter (5362) is hinged to the first hip joint connector (534), and the second hip joint adapter (5363) is hinged to the second hip joint connector (535). The first hip joint adapter (5362) and the second hip joint adapter (5363) are threadedly connected to a hip joint adjusting rod (5361).

9. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 1, 6, 7, or 8, characterized in that: The lower leg (5) is connected to the foot mechanism (6) by an ankle joint drive connection mechanism (55). The ankle joint drive connection mechanism (55) includes an ankle joint first drive component (551) and an ankle joint second drive component (552) installed on the lower leg (5). The ankle joint first drive component (551) and the ankle joint second drive component (552) move synchronously to drive the foot mechanism (6) to lift or drop. The ankle joint first drive component (551) and the ankle joint second drive component (552) move differentially to drive the foot mechanism (6) to invert or evert.

10. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 9, characterized in that: Both the first ankle joint drive assembly (551) and the second ankle joint drive assembly (552) include an ankle joint drive member (553). The ankle joint drive member (553) is mounted on the lower leg (5). The ankle joint drive member (553) rotatably drives the first ankle joint connector (554). The first ankle joint connector (554) rotates along the upward / downward direction of the foot mechanism (6). The foot mechanism (6) is rotatably connected to the lower leg (5) along the inversion / outversion direction. The foot mechanism (6) is hinged to the first ankle joint connector (554) with the second ankle joint connector (555).

11. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 10, characterized in that: The second ankle joint connector (555) includes a first ankle joint adapter (5552) and a second ankle joint adapter (5553). The first ankle joint adapter (5552) is hinged to the first ankle joint connector (554), and the second ankle joint adapter (5553) is hinged to the foot mechanism (6). The first ankle joint adapter (5552) and the second ankle joint adapter (5553) are threadedly connected to an ankle joint adjustment rod (5551).

12. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 1, 2, or 6, characterized in that: The lower leg (5) includes a thigh mechanism (51) and a calf mechanism (52). The thigh mechanism (51) is driven to the torso frame (2), the calf mechanism (52) is driven to the thigh mechanism (51), and the foot mechanism (6) is driven to the calf mechanism (52).

13. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 12, characterized in that: The thigh mechanism (51) and the lower leg mechanism (52) are driven to be connected by a knee joint drive connection mechanism (54). The knee joint drive connection mechanism (54) drives the thigh mechanism (51) and the lower leg mechanism (52) to rotate relative to each other or to rotate relative to each other. The knee joint drive connection mechanism (54) includes a knee joint drive component (541). The knee joint drive component (541) is installed on the thigh mechanism (51). The knee joint drive component (541) is driven to be connected to a first knee joint connector (542). The first knee joint connector (542) rotates in the direction of raising / lowering the lower leg (5). The first knee joint connector (542) is hinged to the lower leg mechanism (52) by a second knee joint connector (543).

14. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 1, characterized in that: The upper arm (3) includes a large arm mechanism (31) and a forearm mechanism (32). The large arm mechanism (31) is driven to the trunk skeleton (2). The forearm mechanism (32) is driven to the large arm mechanism (31). The forearm mechanism (32) is driven to the wrist mechanism (4).

15. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 14, characterized in that: The wrist mechanism (4) includes a wrist drive (41), which is rotatably driven to connect to a front flange joint (42).

16. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 1 or 14, characterized in that: The gripping mechanism (8) includes a gripping connector (81) and a gripping wearable (82). The gripping connector (81) is connected to the wrist mechanism (4). The gripping wearable (82) is detachably connected to the gripping connector (81). The gripping wearable (82) is used for hand gripping.

17. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 16, characterized in that: The relative position and posture of the gripping wearable (82) and the gripping connector (81) are adjustable.

18. The robotic device based on exoskeleton and humanoid robot function conversion according to claim 1, characterized in that: It also includes a head mechanism (1), which includes a head frame (11) mounted on the torso frame (2) and a vision sensor (12) mounted on the head frame (11).

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