Modular docking mechanism and biped robot

Abstract

The utility model relates to a modular docking mechanism and biped robot relates to robot technical field. To solve the problem of poor stability of biped robot in complex terrain operation at present stage, and poor load capacity of biped robot. The utility model includes intermediate connecting block and clamping structure, and intermediate connecting block has two clamping ends, and each clamping end corresponds a clamping structure and is clamped, and the intermediate drive unit in clamping structure includes intermediate drive shaft and drive cam, and drive cam is sleeved on intermediate drive shaft and can rotate with intermediate drive shaft, and each finger unit corresponds a drive cam, and finger unit includes touch rod, finger, pin shaft no. One and return spring, and finger is hinged to one side of drive cam through pin shaft no. One, and one end of touch rod is in contact with the surface of corresponding drive cam, and the other end is connected to the tail end of finger and can rotate, and one end of return spring is connected to finger, and the other end is fixed and stretched. The utility model is mainly used for the modular connection of biped robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a modular docking mechanism and a bipedal robot. Background Technology

[0002] In recent years, bipedal robots have played an important role in robotics research, with their biomimetic design and flexibility enabling them to perform well in many applications. However, as application demands increase, bipedal robots have revealed some limitations. For example, bipedal robots have poor stability when operating in complex terrain, making them prone to falling, and their load-bearing capacity is poor, making them unable to adapt to high-load tasks. Summary of the Invention

[0003] In view of this, the present invention provides a modular docking mechanism and a bipedal robot, which utilizes the cooperation of an intermediate connecting block and a clamping structure to splice multiple bipedal robots to form a multi-legged robot, thereby improving the stability of operation in complex environments and high-load tasks.

[0004] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0005] A modular docking mechanism includes an intermediate connecting block and a clamping structure. The intermediate connecting block has at least two clamping ends, each clamping end corresponding to a clamping structure and being clamped to achieve modular docking.

[0006] Each clamping structure includes an intermediate drive unit for driving the jaws to close and at least two finger units constituting the jaws. The intermediate drive unit includes an intermediate drive shaft and at least two drive cams, which are evenly arranged along the circumference of the intermediate drive shaft. Each drive cam is fitted onto the intermediate drive shaft and can rotate with it. Each finger unit corresponds to one drive cam. Each finger unit includes a contact rod, a finger, a pin, and a return spring. The finger is hinged to one side of the corresponding drive cam via the pin. The contact rod and the return spring are respectively arranged on both sides of the finger. One end of the contact rod contacts the surface of the corresponding drive cam, and the other end is connected to the end of the finger and can rotate. One end of the return spring is connected to the finger, and the other end is fixed and stretched. The connection point between the return spring and the finger and the connection point between the contact rod and the finger are respectively located on both sides of the hinged point of the finger. When the drive cam rotates with the intermediate drive shaft, the contact rod in each finger unit is squeezed and pushes the corresponding finger to rotate around the pin, and all fingers close to clamp the clamping end of the intermediate connecting block.

[0007] Furthermore, the intermediate drive unit also includes an operating handle, and the intermediate drive shaft is connected to the operating handle and rotates with the operating handle.

[0008] Furthermore, each clamping structure also includes an L-shaped positioning plate, and the intermediate drive shaft of the intermediate drive unit is inserted into the L-shaped positioning plate and can rotate.

[0009] Furthermore, when there are two finger units, each clamping structure also includes an upper clamping plate and a lower clamping plate. The upper and lower clamping plates are arranged opposite each other and installed on one side of the L-shaped positioning plate. The upper and lower clamping plates form a square locking opening. The intermediate drive unit is located in the square locking opening between the upper and lower clamping plates. Each clamping end of the intermediate connecting block is a square block structure and is adapted to the square locking opening.

[0010] With two fingers positioned on the left and right sides of the central drive unit, the fingertips deflect towards the square lock opening, locking the clamping end of the central connecting block into the square lock opening.

[0011] Furthermore, the upper and lower clamping plates have the same structure, and their longitudinal cross-sections are both U-shaped.

[0012] A bipedal robot includes a body and a clamping structure in a modular docking mechanism, the clamping structure being installed on the body; at least two bipedal robots can be spliced ​​together into a multi-legged robot by using an intermediate connecting block in cooperation with the clamping structure, thereby improving the stability and load-bearing capacity of the legged robot.

[0013] Furthermore, it also includes two leg structures, each leg structure comprising a thigh, a calf, a foot, a knee joint drive mechanism, and a hip joint drive mechanism. The hip joint drive mechanism connects the body to the thigh and drives the thigh to perform two degrees of freedom of movement; the calf is connected to the thigh and can rotate, and the connection point between the calf and the thigh forms the knee joint; the knee joint drive mechanism is mounted on the thigh and drives the calf to perform pitching motion around the knee joint; the foot is connected to the calf and can rotate, and the connection point between the foot and the calf forms the ankle joint.

[0014] Furthermore, the thigh includes a parallelogram frame and two pins, which are respectively installed at a pair of opposite corners of the parallelogram frame and are rotatable; the hip joint drive mechanism includes a lateral swing motor and a pitch drive assembly. The housing of the lateral swing motor is installed on the body, and the thigh is connected to the motor shaft of the lateral swing motor and rotates with the motor shaft to realize the lateral swing movement of the thigh; the pitch drive assembly is connected to the two pins, and the parallelogram frame deforms with the drive of the pitch drive assembly to realize the pitch movement of the thigh.

[0015] Furthermore, the pitch drive assembly includes a pitch motor, a lead screw, a lead screw nut, and at least one connecting rod; one end of the lead screw is connected to the motor shaft of the pitch motor and rotates with the motor shaft, while the lead screw is rotatably connected to one of the pins and can rotate with the pin; the connecting rod is connected to another pin and can rotate with the pin; the lead screw nut is installed at the end of the connecting rod and screwed to the lead screw; when the lead screw rotates with the motor shaft of the pitch motor, the lead screw nut moves along the axial direction of the lead screw and drives the parallelogram frame to deform.

[0016] Furthermore, the knee joint drive mechanism includes a knee joint motor, a first link, and a second link. The knee joint motor is mounted on the thigh. One end of the first link is connected to the motor shaft of the knee joint motor and can rotate with the motor shaft. The other end of the first link is connected to one end of the second link and can rotate. The other end of the second link is connected to the top of the lower leg and can rotate. When the first link rotates with the motor shaft of the knee joint motor, the first link drives the lower leg to perform pitching motion around the knee joint via the second link.

[0017] The beneficial effects of this invention compared to the prior art are:

[0018] 1. This invention utilizes the cooperation of the intermediate connecting block and clamping structure in the modular docking mechanism to assemble multiple bipedal robots. Multiple bipedal robots can be connected to form a multi-legged robot, realizing various robot form transformations and motion mode conversions. This expands the performance range and adaptability of bipedal robots, improves the stability of bipedal robots in complex environments, and the connection of multiple bipedal robots can achieve high-load tasks.

[0019] 2. This invention places the knee joint drive mechanism on the thigh, which raises the leg's center of gravity, reduces the leg's inertia, achieves a lightweight design for the leg, and greatly reduces the difficulty of controlling the leg.

[0020] 3. The present invention has a damper installed between the foot and the lower leg to ensure the stability of the leg when it contacts the ground.

[0021] 4. The present invention utilizes the design of the limiting block between the lower leg and the knee joint drive mechanism to achieve the effect of lower leg limiting. At the same time, by utilizing the self-locking characteristic of the lead screw and nut pair in the pitch drive component, the thigh can be self-locked at any angle. Therefore, under the self-locking characteristic of the pitch drive component and the limiting effect of the limiting block on the lower leg, the bipedal robot can achieve static standing under low power consumption. Attached Figure Description

[0022] The accompanying drawings, which form part of this application, are provided to further illustrate the invention.

[0023] Figure 1 A schematic diagram of the modular docking mechanism of the present invention.

[0024] Figure 2 This is a schematic diagram of the structure of the intermediate drive unit and the two finger units working together.

[0025] Figure 3 This is a schematic diagram of the lateral structure of a bipedal robot.

[0026] Figure 4 This is a three-dimensional structural diagram of a bipedal robot.

[0027] Figure 5This is a schematic diagram of the clamping structure assembled with the bipedal robot.

[0028] Figure 6 This is a schematic diagram of the structure of a quadruped robot formed by assembling two bipedal robots.

[0029] Figure 7 A schematic diagram of the structure of an eight-legged robot assembled from four bipedal robots.

[0030] Explanation of reference numerals in the attached figures:

[0031] Modular docking mechanism 100, intermediate connecting block 1, square block structure 11, clamping structure 2, L-shaped positioning plate 21, upper clamping plate 22, lower clamping plate 23, intermediate drive unit 24, operating handle 241, intermediate drive shaft 242, limit nut 243, drive cam 244, finger unit 25, contact rod 251, finger 252, pin 1 253, pin support rod 254, return spring 255;

[0032] Body 200;

[0033] Leg structure 300, thigh 3, transverse connecting frame 31, parallelogram frame 32, pin 2 33, pin 3 34, lower leg 4, limiting block 41, foot 5, hip joint drive mechanism 6, lateral swing motor 61, pitch drive assembly 62, pitch motor 621, lead screw 622, lead screw nut 623, connecting rod 624, knee joint drive mechanism 7, knee joint motor 71, connecting rod 1 72, connecting rod 2 73; damper 8. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings. The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0035] Example 1:

[0036] See Figure 1 and Figure 2 This application provides a modular docking mechanism, including an intermediate connecting block 1 and a clamping structure 2; the intermediate connecting block 1 has two clamping ends arranged opposite to each other, and the clamping ends of the intermediate connecting block 1 are square block structures 11; each clamping end corresponds to a clamping structure 2 and is clamped to realize the connection of the two clamping structures 2.

[0037] Combination Figure 1 and Figure 2Each clamping structure 2 includes an L-shaped positioning plate 21, an upper clamping plate 22, a lower clamping plate 23, an intermediate driving unit 24 for driving the opening and closing of the grippers, and two finger units 25 constituting the grippers. The upper clamping plate 22 and the lower clamping plate 23 are arranged opposite each other and installed on one side of the L-shaped positioning plate 21. The upper clamping plate 22 and the lower clamping plate 23 form a square locking opening, and the intermediate driving unit 24 is located in the square locking opening between the upper clamping plate 22 and the lower clamping plate 23. Each clamping end of the intermediate connecting block 1 is a square block structure 11, which is adapted to the square locking opening to ensure the reliability of the positioning between the intermediate connecting block 1 and the clamping structure 2 and to avoid rotation between the intermediate connecting block 1 and the clamping structure 2. The upper clamping plate 22 and the lower clamping plate 23 have the same structure, and their longitudinal cross-sections are both U-shaped. The concave openings of the upper clamping plate 22 and the lower clamping plate 23 face each other and form a square locking opening.

[0038] Combination Figure 2 The intermediate drive unit 24 includes an operating handle 241, an intermediate drive shaft 242, a limiting nut 243, and two drive cams 244. The intermediate drive shaft 242 of the intermediate drive unit 24 is mounted on one of the plates of the L-shaped positioning plate 21 via a thrust bearing and is rotatable. One end of the intermediate drive shaft 242 is connected to the operating handle 241 and rotates with the operating handle 241. The two drive cams 244 are evenly arranged along the circumference of the intermediate drive shaft 242. Each drive cam 244 is fitted onto the intermediate drive shaft 242 and keyed to the intermediate drive shaft 242 so that the drive cam 244 can rotate with the intermediate drive shaft 242. The front end of the intermediate drive shaft 242 is threaded and screwed with a limiting nut 243 to lock the axial position of the drive cam 244. When the operating handle 241 rotates, the intermediate drive shaft 242 rotates with the operating handle 241 and drives the drive cams 244 to rotate, thereby generating a driving force on the finger unit 25 via the drive cams 244.

[0039] Combination Figure 2Two finger units 25 are positioned opposite each other on the left and right sides of the central drive unit 24, each corresponding to a drive cam 244. Each finger unit 25 includes a touch rod 251, a finger 252, a first pin 253, a pin support rod 254, and a return spring 255. The pin support rod 254 is mounted on the L-shaped positioning plate 21, and the first pin 253 is vertically mounted on the pin support rod 254. The middle position of the finger 252 is fitted onto the first pin 253 and can rotate around the first pin 253. The touch rod 251 is positioned between the cam and the finger 252. One end of the finger 252 contacts the surface of the corresponding drive cam 244, and the other end is connected to the end of the finger 252 and can rotate. The return spring 255 is located on the side of the finger 252 away from the touch rod 251, and one end of the return spring 255 is connected to the position of the finger 252 near the tip, and the other end is fixedly connected to the L-shaped positioning plate 21 and is stretched. The connection point between the return spring 255 and the finger 252 and the connection point between the touch rod 251 and the finger 252 are respectively located on both sides of the hinge point of the finger 252, so that the finger 252 can rotate when subjected to eccentric force. When the two fingers 252 transition from a closed state to an open state, the operating handle 241 rotates clockwise and drives the intermediate drive shaft 242 to rotate clockwise. The drive cam 244 rotates clockwise with the intermediate drive shaft 242, and the vertical distance between the outer surface of the drive cam 244 and the fingers 252 increases. The contact rod 251 in the finger unit 25 is no longer squeezed. The return spring 255 pulls the fingers 252 to rotate around the pin 253. The fingertips of the fingers 252 deflect outward, and the two fingers 252 are in an open state. The ends of the fingers 252 deflect towards the drive cam 244, so that the contact rod 251 always abuts against the outer surface of the drive cam 244. When the two fingers 252 transition from an open state to a closed state, the operating handle 241 rotates counterclockwise, causing the intermediate drive shaft 242 to rotate counterclockwise. The drive cam 244 rotates counterclockwise with the intermediate drive shaft 242, reducing the vertical distance between the outer surface of the drive cam 244 and the fingers 252. The drive cam 244 presses the contact rod 251 in the finger unit 25, causing the contact rod 251 to push the end of the finger 252 and rotate the finger 252 around the pin 253. The end of the finger 252 deflects outward, and the fingertip deflects inward, bringing the two fingers 252 into a closed state. Simultaneously, the fingertip pulls the return spring 255, causing the return spring 255 to extend. The opening and closing of the two fingers 252 achieves the clamping of the intermediate connecting block 1.

[0040] In this embodiment, before docking, the square block structures 11 at both ends of the intermediate connecting block 1 are inserted into the square locking slots of the two clamping structures 2, respectively. Then, the operating handle 241 is rotated to achieve the clamping action, ultimately connecting the two clamping structures 2. In this embodiment, the clamping structures 2 are installed on the bipedal robot. The number of clamping structures 2 installed on each robot can be determined according to the splicing situation. When both clamping structures 2 of two adjacent bipedal robots clamp the clamping ends of the intermediate connecting block 1, modular locking of the two bipedal robots is achieved; when the two clamping structures 2 release the clamping ends of the intermediate connecting block 1, the two bipedal robots are unlocked. By arranging the clamping structures 2 and cooperating with the intermediate connecting block 1, the number of robots can be increased or decreased, or the arrangement of the robots can be changed, ultimately altering the movement pattern of the robots.

[0041] Example 2:

[0042] See Figures 3 to 7 This embodiment provides a bipedal robot, including a clamping structure 2 in a modular docking mechanism 100, a body 200, and two leg structures 300. Each leg structure is arranged side-by-side below the body 200 and connected to the body. Each leg structure 300 includes a thigh 3, a lower leg 4, and a foot 5 connected sequentially from top to bottom, and also includes a hip joint drive mechanism 6 and a knee joint drive mechanism 7. Figure 5 The clamping structure 2 is installed on the machine body 200 via another plate of the L-shaped positioning plate 21. The connection position and number of clamping structures 2 and the machine body 200 can be adjusted as needed. At least two bipedal robots are spliced ​​together to form a multi-legged robot by using the cooperation of the intermediate connecting block 1 and the clamping structure 2 to improve the stability and load capacity of the legged robot. The hip joint drive mechanism 6 connects the machine body and the leg and drives the leg to perform two degrees of freedom of movement; the lower leg 4 is connected to the thigh 3 and can rotate, and the connection point between the lower leg 4 and the thigh 3 forms the knee joint; the knee joint drive mechanism 7 is installed on the thigh 3 and drives the lower leg 4 to perform pitching motion around the knee joint, wherein a limiting block 41 is provided near the top of the lower leg 4 and on the rear side of the lower leg 4; the foot 5 is connected to the lower leg 4 and can rotate, and the connection point between the foot 5 and the lower leg 4 forms the ankle joint. A damper 8 is installed between the heel and the lower leg 4 to reduce the impact force on the foot 5 during movement and ensure the stability of the leg when in contact with the ground.

[0043] Among them, combined Figure 4The thigh 3 includes a transverse connecting frame 31, two parallelogram frames 32, two pins 33, and one pin 34. The two parallelogram frames 32 are arranged side by side, and one connecting rod of each parallelogram frame 32 is connected and fixed to the transverse connecting frame 31. The two pins 33 are arranged at one pair of opposite corners of the two parallelogram frames 32 and connect the two parallelogram frames 32. Each pin 33 can rotate relative to the parallelogram frame 32. The pin 34 is installed at one of the apex corners of the other opposite corner of the two parallelogram frames 32, and this apex corner is located below the end of the parallelogram frame 32 away from the transverse connecting frame 31. The lower leg 4 is fitted onto the pin 34 and can rotate around the pin 34, wherein the connection point between the lower leg 4 and the pin 34 is located slightly below the top of the lower leg 4.

[0044] Combination Figure 3 and Figure 4 The hip joint drive mechanism 6 includes a lateral swing motor 61 and a pitch drive assembly 62. The housing of the lateral swing motor 61 is mounted on the body. The transverse connecting frame 31 in the thigh 3 is connected to the motor shaft of the lateral swing motor 61 and rotates with the motor shaft. The transverse connecting frame 31 drives the two parallelogram frames 32 and the pitch drive assembly 62 to rotate, so as to realize the lateral swing movement of the thigh 3.

[0045] Combination Figure 4 and Figure 5The pitch drive assembly 62 is connected to two pins 33. The parallelogram frame 32 deforms as the pitch drive assembly 62 is driven to achieve the pitch movement of the thigh 3. Specifically, the pitch drive assembly 62 includes a pitch motor 621, a lead screw 622, a lead screw nut 623, and two connecting rods 624. One end of the lead screw 622 is connected to the motor shaft of the pitch motor 621 and rotates with the motor shaft. Simultaneously, the lead screw 622 is connected to one of the pins 33 via a bearing and can rotate with the one pin 33. One end of each of the two connecting rods 624 is connected to the other pin 33 and can rotate with the pin 33. The lead screw nut 623 is installed at the other end of the two connecting rods 624 and screwed onto the lead screw 622. The lead screw 622 and... Two connecting rods 624 connect two pins 33 at opposite corners of the parallelogram frame 32. When the lead screw 622 rotates with the motor shaft of the pitch motor 621, the lead screw nut 623 moves along the axis of the lead screw 622, changing the length of the lead screw 622 and the two connecting rods 624, thus altering the length of the opposite corners of the parallelogram frame 32. The two opposite corners of the parallelogram frame 32 deform under the tension or thrust of the connecting rods 624 and the lead screw 622, causing the two parallelogram frames 32 to flip upwards or downwards, achieving the pitching motion of the thigh 3. Furthermore, using the lead screw and nut pair to drive the deformation of the thigh 3 allows it to withstand greater loads and operate stably compared to traditional linkage mechanisms. Moreover, the lead screw and nut pair has a self-locking characteristic, and when combined with the limiting block 41 on the lower leg 4, it enables the bipedal robot to stand statically with low power consumption.

[0046] Combination Figure 4 and Figure 5 The knee joint drive mechanism 7 includes a knee joint motor 71, a first connecting rod 72, and a second connecting rod 73. The knee joint motor 71 is mounted at the apex of the parallelogram frame 32 in the thigh 3, near the pitch motor 621. One end of the first connecting rod 72 is connected to the motor shaft of the knee joint motor 71 and can rotate with the motor shaft. The other end of the first connecting rod 72 is connected to one end of the second connecting rod 73 and can rotate. The other end of the second connecting rod 73 is connected to the top of the lower leg 4 and can rotate. The first connecting rod 72, the second connecting rod 73, the lower leg 4, and the connecting rod below the parallelogram frame 32 in the thigh 3 constitute a parallelogram connecting rod structure. When the first connecting rod 72 rotates with the motor shaft of the knee joint motor 71, the first connecting rod 72 drives the lower leg 4 to perform pitching motion around the knee joint (pin 34) via the second connecting rod 73. In addition, combined with Figure 4A limiting block 41 is provided on the rear side of the lower leg 4 near the top. The width of the limiting block 41 is greater than the width of the connecting rod 73. The limiting is achieved by the upper surface of the limiting block 41 above the lower leg 4 making line contact with the lower surface of the connecting rod 73. When the machine body 200 descends, as the knee joint motor 71 rotates, the angle between the lower leg 4 and the connecting rod 73 becomes smaller and smaller. After reaching a certain angle, the upper surface of the limiting block 41 makes line contact with the lower surface of the connecting rod 73. At this time, the angle reaches its minimum value, and the lower leg 4 can no longer rotate inward, thus achieving the effect of limiting the lower leg.

[0047] In this embodiment, a clamping structure 2 is added to the bipedal robot. Through the design of the clamping structure 2 and the cooperation between the clamping structure 2 and the intermediate connecting block 1, multiple bipedal robots can be connected to form a multi-legged robot, realizing various robot form transformations and motion mode conversions. This expands the performance range and adaptability of the bipedal robot, improves the stability of the bipedal robot in complex environments, and the connection of multiple bipedal robots can achieve high-load tasks, providing a feasible solution for the flexible application of legged robots.

[0048] In this embodiment, the knee joint drive mechanism 7 is positioned on the thigh 3, raising the leg's center of gravity and reducing its moment of inertia, thus achieving a lightweight design and significantly reducing the difficulty of controlling the leg. A damper 8 is installed between the foot 5 and the lower leg 4 to ensure stability when the leg contacts the ground. Furthermore, the design of the limiting block 41 between the lower leg 4 and the knee joint drive mechanism 7 achieves a lower leg limiting effect. Simultaneously, utilizing the self-locking characteristic of the lead screw and nut pair in the pitch drive assembly 62, the thigh can self-lock at any angle. Therefore, under the self-locking characteristic of the pitch drive assembly 62 and the limiting effect of the limiting block 41 on the lower leg 4, the bipedal robot can achieve static standing with low power consumption.

[0049] The following further explains the working process of the present invention to further demonstrate its working principle and advantages:

[0050] Modular connection of bipedal robots: When the gripper of clamping structure 2 is in the open state, the square block structure 11 at one end of the intermediate connecting block 1 is inserted into the square locking hole on the clamping structure 2 of one of the bipedal robots, and the square block structure 11 of the intermediate connecting block 1 abuts against the limiting nut 243 of the intermediate drive unit 24. The operating handle 241 rotates counterclockwise, causing the intermediate drive shaft 242 to rotate counterclockwise as well. The drive cam 244 rotates counterclockwise with the intermediate drive shaft 242, reducing the vertical distance between the outer surface of the drive cam 244 and the finger 252. The drive cam 244 then presses against the contact rod 251 in the finger unit 25. The contact rod 251 pushes the end of the finger 252, causing the finger 252 to rotate around the pin 253. The end of the finger 252 deflects outward, and the fingertip deflects inward, resulting in a closed state where the two fingers 252 lock the square block structure 11 of the intermediate connecting block 1 within the square locking slot. Simultaneously, the fingertip of the finger 252 pulls the return spring 255, causing it to extend. The square block structure 11 at the other end of the intermediate connecting block 1 is connected to the clamping structure 2 on another bipedal robot using the same connection method. At this point, the connection between the two bipedal robots is achieved. If more bipedal robots need to be connected, the remaining clamping structures 2 are installed on each bipedal robot, and the remaining bipedal robots are connected via the intermediate connecting block 1 to achieve the configuration of a multi-legged robot. A modular assembly diagram is shown below. Figure 6 and Figure 7 As shown, two sets of bipedal robots can be connected through the modular docking mechanism 100 to form a quadruped robot, and four sets of bipedal robots can be connected through the modular docking mechanism 100 to form an octagonal robot. The assembly and disassembly of the modular docking mechanism 100 can meet the usage requirements of the robot in different scenarios.

[0051] Modular disassembly of the bipedal robot: When disassembling the multi-legged robot, the operating handle 241 is rotated clockwise, which drives the intermediate drive shaft 242 to rotate clockwise. The drive cam 244 rotates clockwise with the intermediate drive shaft 242. The vertical distance between the outer surface of the drive cam 244 and the finger 252 increases, and the contact rod 251 in the finger unit 25 is no longer squeezed. The return spring 255 pulls the finger 252 to rotate around the pin 253. The fingertip of the finger 252 deflects outward, and the two fingers 252 are in an open state. The square block structure 11 of the intermediate connecting block 1 is pulled out from the square lock, realizing the disassembly of multiple bipedal robots.

[0052] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A bipedal robot, characterized in that: The system includes a body and a modular docking mechanism. The modular docking mechanism includes an intermediate connecting block and a clamping structure. The intermediate connecting block has at least two clamping ends, each of which corresponds to and is clamped by a clamping structure to achieve modular docking. The clamping structure is installed on the body. By using the cooperation between the intermediate connecting block and the clamping structure, at least two bipedal robots can be spliced ​​into a multi-legged robot to improve the stability and load-bearing capacity of the legged robot. Each clamping structure includes an intermediate drive unit for driving the jaws to close and at least two finger units constituting the jaws. The intermediate drive unit includes an intermediate drive shaft and at least two drive cams, which are evenly arranged along the circumference of the intermediate drive shaft. Each drive cam is fitted onto the intermediate drive shaft and can rotate with it. Each finger unit corresponds to one drive cam. Each finger unit includes a contact rod, a finger, a pin, and a return spring. The finger is hinged to one side of the corresponding drive cam via the pin. The contact rod and the return spring are respectively arranged on both sides of the finger. One end of the contact rod contacts the surface of the corresponding drive cam, and the other end is connected to the end of the finger and can rotate. One end of the return spring is connected to the finger, and the other end is fixed and stretched. The connection point between the return spring and the finger and the connection point between the contact rod and the finger are respectively located on both sides of the hinged point of the finger. When the drive cam rotates with the intermediate drive shaft, the contact rod in each finger unit is squeezed and pushes the corresponding finger to rotate around the pin, and all fingers close to clamp the clamping end of the intermediate connecting block. It also includes two leg structures, each of which includes a thigh, a calf, a foot, a knee joint drive mechanism, and a hip joint drive mechanism. The hip joint drive mechanism connects the body to the thigh and drives the thigh to perform two degrees of freedom of movement. The calf is connected to the thigh and can rotate, and the connection point between the calf and the thigh forms the knee joint. The knee joint drive mechanism is mounted on the thigh and drives the calf to perform pitching motion around the knee joint. The foot is connected to the calf and can rotate, and the connection point between the foot and the calf forms the ankle joint. The thigh includes a parallelogram frame and two pins, which are respectively installed at a pair of opposite corners of the parallelogram frame and are rotatable. The hip joint drive mechanism includes a lateral swing motor and a pitch drive assembly. The housing of the lateral swing motor is installed on the body, and the thigh is connected to the motor shaft of the lateral swing motor and rotates with the motor shaft to realize the lateral swing movement of the thigh. The pitch drive assembly is connected to the two pins, and the parallelogram frame deforms with the drive of the pitch drive assembly to realize the pitch movement of the thigh. The pitch drive assembly includes a pitch motor, a lead screw, a lead screw nut, and at least one connecting rod. One end of the lead screw is connected to the motor shaft of the pitch motor and rotates with the motor shaft. At the same time, the lead screw is rotatably connected to one of the pins and can rotate with the pin. The connecting rod is connected to another pin and can rotate with the pin. The lead screw nut is installed at the end of the connecting rod and screwed to the lead screw. When the lead screw rotates with the motor shaft of the pitch motor, the lead screw nut moves along the axial direction of the lead screw and drives the parallelogram frame to deform.

2. A bipedal robot according to claim 1, characterized in that: The knee joint drive mechanism includes a knee joint motor, a first link, and a second link. The knee joint motor is mounted on the thigh. One end of the first link is connected to the motor shaft of the knee joint motor and can rotate with the motor shaft. The other end of the first link is connected to one end of the second link and can rotate. The other end of the second link is connected to the top of the lower leg and can rotate. When the first link rotates with the motor shaft of the knee joint motor, the first link drives the lower leg to perform pitching motion around the knee joint via the second link.

3. A bipedal robot according to claim 1, characterized in that: The intermediate drive unit also includes an operating handle, and the intermediate drive shaft is connected to the operating handle and rotates with the operating handle.

4. A bipedal robot according to claim 1, characterized in that: Each clamping structure also includes an L-shaped positioning plate, and the intermediate drive shaft of the intermediate drive unit is inserted into the L-shaped positioning plate and can rotate.

5. A bipedal robot according to claim 4, characterized in that: When there are two finger units, each clamping structure also includes an upper clamping plate and a lower clamping plate. The upper and lower clamping plates are arranged opposite each other and installed on one side of the L-shaped positioning plate. The upper and lower clamping plates form a square locking opening. The intermediate drive unit is located in the square locking opening between the upper and lower clamping plates. Each clamping end of the intermediate connecting block is a square block structure and is adapted to the square locking opening. With two fingers positioned on the left and right sides of the central drive unit, the fingertips deflect towards the square lock opening, locking the clamping end of the central connecting block into the square lock opening.

6. A bipedal robot according to claim 5, characterized in that: The upper and lower clamping plates have the same structure, and their longitudinal cross-sections are both U-shaped.

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