A bionic driving device for a humanoid robot

Abstract

The invention relates to a bionic driving device of a humanoid robot, which belongs to the field of robot technology and is used to solve the problems of a single driving mode and poor environmental adaptability of a humanoid robot driving device in the prior art. The device comprises a bionic foot, a propeller driving system, a bionic driving system and a sensor monitoring system, wherein a through hole is provided on the bionic foot; the propeller driving system comprises a first propeller assembly, and the first propeller assembly is arranged inside the through hole; the bionic driving system comprises two groups of bionic power assemblies, and the two groups of bionic power driving assemblies are arranged at the bottom of the bionic foot, and the two groups of bionic power driving assemblies are respectively located on both sides of the through hole; due to the provision of the bionic driving system, the continuous wriggling of animals such as caterpillars can be simulated, thereby driving the entire device forward, and when the propeller of the first propeller assembly faces the ground, the grip of the entire device on the ground can be increased or decreased by changing the direction or rotation speed of the propeller.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a bionic driving device of a humanoid robot. Background Art

[0002] In today's era of rapid technological development, humanoid robot technology is striding into a brand new era. Its technical maturity has reached the level of being able to successfully simulate a series of basic human actions, including walking, precise grasping, efficient object recognition, and fluent human language interaction. With its unique advantages, humanoid robots are gradually penetrating into many vibrant emerging fields such as the service industry, medical rehabilitation, education and entertainment. In these emerging fields, humanoid robots have greatly improved production efficiency on the one hand, and brought users unprecedented interactive experience on the other, fully demonstrating their broad application prospects in the future society.

[0003] However, despite the remarkable achievements of humanoid robot technology, there are still many arduous challenges in the improvement and optimization of the drive system. As the core key component of driving walking, the performance of the drive system directly affects the robot's movement flexibility, adaptability and energy efficiency. At present, the drive forms of humanoid robots mainly include wheel drive, leg drive, track drive, etc. Although wheel drive has the outstanding advantages of fast movement speed and high energy efficiency, its adaptability will be greatly limited when facing complex terrain and encountering obstacles or steps, which in turn affects the widespread application of humanoid robots. Leg drive can simulate human gait with high fidelity and performs extremely well in terrain adaptability and flexibility. However, its high design complexity, difficult maintenance and high cost have seriously restricted its further promotion and application. Track drive has outstanding performance in off-road and complex terrain, but its movement speed and flexibility are relatively low, and it may be too bulky in some specific application scenarios.

[0004] In view of this, the improvement and optimization of the humanoid robot drive system has become a hot topic in current research. The shortcomings of a single drive mode are quite obvious. By deeply exploring the optimal combination of different drive modes and actively developing new and efficient drive technologies, the comprehensive performance of humanoid robots will be greatly improved, and their application areas will be further broadened, bringing more convenience and great value to human society. Summary of the invention

[0005] In view of the defects in the prior art, the present invention provides a bionic driving device for a humanoid robot, which is used to solve the problems of the humanoid robot driving device in the prior art having a single driving mode and poor environmental adaptability.

[0006] In order to achieve the above object, the present invention provides a bionic driving device for a humanoid robot, comprising:

[0007] A bionic foot base, wherein the bionic foot base is provided with a through hole;

[0008] A propeller drive system, the propeller drive system comprising a first propeller assembly, the first propeller assembly being disposed inside the through hole;

[0009] A bionic drive system, wherein the bionic drive system comprises two groups of bionic power components, wherein the two groups of bionic power drive components are arranged at the bottom of the bionic footrest, and the two groups of bionic power drive components are respectively located at two sides of the through hole;

[0010] A sensor monitoring system is arranged on the bionic foot and is used to detect environmental information.

[0011] Optionally, the first screw assembly includes a first drive motor, a first mounting seat, a first propeller motor and a first propeller, the first mounting seat is provided with a rotating shaft, the first mounting seat is placed in the through hole, an axial hole is opened on the hole wall of the through hole, the rotating shaft and the axial hole are rotatably matched, the first propeller motor and the first mounting seat are fixedly connected, and the first propeller is fixedly arranged on the output shaft of the first propeller motor; the first drive motor is fixedly mounted on the bionic foot, and the first drive motor and the rotating shaft are transmission connected.

[0012] Optionally, two through holes are provided on the bionic foot, and the two through holes are arranged front to back; and the first spiral component is provided in each of the two through holes.

[0013] Optionally, the bionic power assembly includes a front mounting seat, a rear mounting seat, a telescopic joint and a sliding seat; a slide groove is provided on the bionic foot seat, the sliding seat and the slide groove are slidably connected, the rear mounting seat is arranged on the sliding seat, a bracket is fixedly provided at the front end of the bottom of the bionic foot seat, the front mounting seat is arranged on the bracket, and at least one set of the telescopic joint is arranged between the front mounting seat and the rear mounting seat.

[0014] Optionally, a plurality of the telescopic sections are hingedly connected end to end to form a telescopic chain, one end of the telescopic chain is hingedly connected to the front mounting seat, and the other end of the telescopic chain is hingedly connected to the rear mounting seat.

[0015] Optionally, the telescopic joint includes a first connecting section, a second connecting section, a telescopic airbag, and an air pump, wherein the telescopic airbag is fixed between the first connecting section and the second connecting section; and the telescopic airbag is tilted, the telescopic airbag is connected to the air pump, and the telescopic airbag is controlled by the air pump.

[0016] Optionally, the bionic power assembly also includes a rotating motor, which is fixedly mounted on the bracket, the front mounting seat is rotatably connected to the bracket, the rear mounting seat is rotatably connected to the sliding seat, the rotating motor is transmission-connected to the front mounting seat, and the first connecting section is provided with a plurality of hemispherical holes, a plurality of balls are rollingly arranged in the hemispherical holes, and parts of the balls protrude out of the hemispherical holes.

[0017] Optionally, the propeller drive system also includes a second propeller assembly, which includes a second drive motor, a second mounting seat, an extension frame, a second propeller motor and a second propeller, the second drive motor is fixedly mounted on the heel mounting plate of the bionic foot, one end of the extension frame is rotatably connected to the heel mounting plate, the second drive motor is transmission-connected to the extension frame, a second mounting seat is fixedly provided on the other end of the extension frame, a second propeller motor is fixedly provided on the second mounting seat, and the second propeller is fixedly provided on the output shaft of the second propeller motor.

[0018] Optionally, four groups of the second propeller assemblies are arranged on the heel mounting plate, and the four groups of the second propeller assemblies are symmetrically arranged.

[0019] Optionally, the sensing monitoring system includes a pressure sensor, a temperature sensor and a humidity sensor, and several of the pressure sensors, several of the temperature sensors and several of the humidity sensors are arranged on the bionic foot and the bionic power component.

[0020] As described above, the bionic driving device of a humanoid robot provided by the present invention has at least the following beneficial effects:

[0021] 1. Since a bionic drive system is provided, the continuous wriggling of animals such as caterpillars can be simulated to drive the entire device forward. At the same time, when the propeller of the first propeller assembly is facing the ground, the grip of the entire device on the ground can be increased or decreased by changing the direction or speed of the propeller.

[0022] 2. The direction of the first propeller can be changed by 90 degrees through the first driving motor. When the first propeller is facing the ground, it is used to change the pressure on the ground. When it is perpendicular to the ground, it plays a role in pushing the entire device forward. When it is between the two, it has both functions.

[0023] 3. Since the telescopic airbag is obliquely arranged, when the air pump inflates the telescopic airbag, the telescopic airbag extends obliquely relative to the ground. Due to the obstruction of the ground, the airbag on the side close to the ground extends obliquely upward, thereby pushing the bionic foot forward. Starting from the side close to the heel mounting plate, several telescopic joints continuously push the bionic foot forward. Then the airbag contracts, and the overall position of the bionic foot remains unchanged; when it is extended again, the entire device continues to be pushed forward; the entire device can be continuously pushed forward by the expansion and contraction of the airbag.

[0024] 4. Since a rotating motor is provided, the entire bionic power assembly can be flipped by the rotating motor so that the ball faces the ground, and the entire device is driven to roll forward through the first propeller assembly or the second propeller assembly, and steering is achieved by changing the rotation speed of the second propellers on both sides.

[0025] 5. Detect environmental information through the sensor monitoring system to select the driving mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 Schematic diagram of the three-dimensional structure of the bionic drive device according to an embodiment of the present invention (I);

[0027] Figure 2 For the embodiment of the present invention Figure 1 A magnified view of the part A in the middle;

[0028] Figure 3 For the embodiment of the present invention Figure 1 A magnified view of the part B in the middle;

[0029] Figure 4 A rear view of a bionic drive device of a humanoid robot according to an embodiment of the present invention;

[0030] Figure 5 Schematic diagram of the three-dimensional structure of the bionic drive device according to an embodiment of the present invention (II);

[0031] Figure 6 A bottom view of a bionic driving device for a humanoid robot according to an embodiment of the present invention;

[0032] Figure 7 For the embodiment of the present invention Figure 6 A magnified view of the local C in the middle;

[0033] Figure 8 It is a schematic diagram of a three-dimensional structure of a telescopic joint according to an embodiment of the present invention;

[0034] Fig. 9 For the embodiment of the present invention Figure 8 Enlarged view of the part D in the middle.

[0035] Component number description:

[0036] Bionic foot 1; through hole 101; bracket 103; heel mounting plate 104; bionic drive system 2; front mounting seat 201; rear mounting seat 202; sliding seat 203; first connecting section 2041; hemispherical hole 20411; telescopic airbag 2042; second connecting section 2043; anti-slip teeth 205; propeller drive system 3; first drive motor 301; first mounting seat 302; first propeller motor 303; first propeller 304; second drive motor 310; extension frame 311; second propeller motor 312; second mounting seat 313; second propeller 314; battery pack 4; equipment box 5; ball 6. DETAILED DESCRIPTION

[0037] The specific embodiments of the present invention will be described in detail below. It should be noted that the embodiments described herein are only for illustration and are not intended to limit the present invention. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present invention. However, it is obvious to those of ordinary skill in the art that these specific details do not need to be adopted to implement the present invention. In other examples, in order to avoid confusing the present invention, known circuits, software or methods are not specifically described.

[0038] Throughout the specification, references to "one embodiment," "an embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment of the present invention. Therefore, the phrases "in one embodiment," "in an embodiment," "an example," or "an example" appearing in various places throughout the specification do not necessarily all refer to the same embodiment or example. In addition, particular features, structures, or characteristics may be combined in one or more embodiments or examples in any suitable combination and / or subcombination. In addition, it should be understood by those of ordinary skill in the art that the figures provided herein are for illustrative purposes and that the figures are not necessarily drawn to scale.

[0039] See also Figure 1-Figure 7 The present invention provides an embodiment of a bionic drive device of a humanoid robot, comprising: a bionic foot 1, a propeller drive system 3, a bionic drive system 2 and a sensor monitoring system, wherein the bionic foot 1 is provided with a through hole 101; the propeller drive system 3 comprises a first propeller assembly, and the first propeller assembly is arranged inside the through hole 101; the bionic drive system 2 comprises two groups of bionic power assemblies, the two groups of bionic power drive assemblies are arranged at the bottom of the bionic foot 1, and the two groups of bionic power drive assemblies are respectively located on both sides of the through hole 101; the sensor monitoring system is arranged on the bionic foot 1 for detecting environmental information.

[0040] Since the bionic drive system 2 is provided, the continuous wriggling of animals such as caterpillars can be simulated to drive the entire device forward. At the same time, when the propeller of the first propeller assembly is facing the ground, the grip of the entire device on the ground can be increased or decreased by changing the direction or speed of the propeller. At the same time, a device box 5 and a battery pack 4 are arranged at the front and rear ends of the bionic foot 1, and the interior of the device box 5 is used to place electrical components and a controller.

[0041] In this embodiment, please refer to Figure 1-Figure 7 The first spiral assembly includes a first drive motor 301, a first mounting seat 302, a first propeller motor 303 and a first propeller 304. The first mounting seat 302 is provided with a rotating shaft. The first mounting seat 302 is placed in the through hole 101. The hole wall of the through hole 101 is provided with an axial hole. The rotating shaft and the axial hole are rotatably matched. The first propeller 304 motor 303 and the first mounting seat 302 are fixedly connected. The first propeller 304 is fixedly arranged on the output shaft of the first propeller 304 motor 303. The first drive motor 301 is fixedly installed on the bionic foot 1, and the first drive motor 301 is connected to the rotating shaft. The direction of the first propeller 304 can be changed by 90 degrees through the first drive motor 301. When the first propeller is facing the ground, it is used to change the pressure on the ground. When it is perpendicular to the ground, it plays a role in pushing the entire device forward. When it is located between the two, both functions are combined.

[0042] In this embodiment, please refer to Figure 1-Figure 9, the bionic foot 1 is provided with two through holes 101, and the two through holes 101 are arranged front and back; the two through holes 101 are provided with the first spiral assembly. The two groups of first spiral assemblies can move synchronously or independently. The bionic power assembly includes a front mounting seat 201, a rear mounting seat 202, a telescopic joint and a sliding seat 203; the bionic foot 1 is provided with a slide groove 102, the sliding seat 203 is slidably connected with the slide groove 102, the rear mounting seat 202 is arranged on the sliding seat 203, a bracket 103 is fixedly provided at the front end of the bottom of the bionic foot 1, the front mounting seat 201 is arranged on the bracket 103, and at least one group of telescopic joints is arranged between the front mounting seat 201 and the rear mounting seat 202. Several telescopic joints are hingedly connected head to tail to form a telescopic chain, one end of the telescopic chain is hinged on the front mounting seat 201, and the other end of the telescopic chain is hinged on the rear mounting seat 202. The telescopic joint includes a first connecting section 2041, a second connecting section 2043, a telescopic airbag 2042, and an air pump. The telescopic airbag 2042 is fixed between the first connecting section 2041 and the second connecting section 2043; and the telescopic airbag 2042 is tilted, the telescopic airbag 2042 is connected to the air pump, and the telescopic airbag 2042 is controlled to be telescopic by the air pump. Each telescopic airbag 2042 can be configured with an independent air pump.

[0043] Since the telescopic airbag 2042 is obliquely arranged, when the air pump inflates the telescopic airbag 2042, the telescopic airbag 2042 extends obliquely relative to the ground. Since the side close to the ground is blocked by the ground, the airbag extends obliquely upward, thereby pushing the bionic foot 1 forward. Starting from the side close to the heel mounting plate, a number of telescopic joints continuously push the bionic foot 1 forward. Then the airbag contracts, and the overall position of the bionic foot 1 remains unchanged. When it is extended again, the entire device continues to be pushed forward. The entire device can be continuously pushed forward by the telescopic airbag. The bottom of the first connecting section 2041 and the second connecting section 2043 can be provided with a number of barb-shaped anti-slip teeth 205, the barb direction is toward the heel direction, and the back of the barb is smooth. The entire telescopic joint can slide forward, and the friction force will increase significantly when sliding backward, making it difficult to slide backward, so that the entire device is easier to creep forward and effectively prevents slipping.

[0044] In this embodiment, please refer to Figure 5-Figure 7The bionic power assembly also includes a rotating motor 201, which is fixedly mounted on the bracket 103, the front mounting seat 201 is rotatably connected to the bracket 103, the rear mounting seat 202 is rotatably connected to the sliding seat 203, the rotating motor 201 is transmission-connected to the front mounting seat 201, and a plurality of hemispherical holes 20411 are provided on the first connecting section 2041, and a plurality of balls 6 are rollingly arranged in the hemispherical holes 20411, and parts of the balls 6 protrude out of the hemispherical holes 20411.

[0045] In this embodiment, please refer to Figure 1-Figure 7 The propeller drive system 3 also includes a second propeller assembly, which includes a second drive motor 310, a second mounting seat 313, a stretching frame 311, a second propeller motor 312 and a second propeller 314. The second drive motor 310 is fixedly mounted on the heel mounting plate 104 of the bionic foot 1, one end of the stretching frame 311 is rotatably connected to the heel mounting plate 104, the second drive motor 310 is transmission-connected to the stretching frame 311, the other end of the stretching frame 311 is fixedly provided with a second mounting seat 313, the second propeller 314 motor 312 is fixedly installed on the second mounting seat 313, and the second propeller 314 is fixedly provided on the output shaft of the second propeller 314 motor 312. The propeller is deployed by the second propeller 314 assembly to provide a strong thrust to the entire device.

[0046] In this embodiment, please refer to Figure 1-Figure 7 Four groups of the second propeller 314 components are disposed on the heel mounting plate 104, and the four groups of the second propeller 314 components are symmetrically arranged.

[0047] In this embodiment, please refer to Figure 1-Figure 7 The sensing monitoring system includes a pressure sensor, a temperature sensor and a humidity sensor. Several of the pressure sensors, several of the temperature sensors and several of the humidity sensors are arranged on the bionic foot 1 and the bionic power component.

[0048] In summary, the present invention is provided with a bionic drive system 2, which can simulate the continuous crawling of animals such as caterpillars, thereby driving the entire device forward. The first spiral component can change the grip and serve as a booster device at the same time; the second spiral component is also designed to provide auxiliary thrust in special environments. The rolling drive is achieved by switching the ball 6 toward the ground; a combination of multiple drive modes is used to adapt to different environments; therefore, the present invention effectively overcomes various shortcomings in the prior art.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A bionic drive device for a humanoid robot, characterized in that: include: A bionic foot base, wherein the bionic foot base is provided with a through hole; A propeller drive system, the propeller drive system comprising a first propeller assembly, the first propeller assembly being disposed inside the through hole; A bionic drive system, wherein the bionic drive system comprises two groups of bionic power components, the two groups of bionic power components are arranged at the bottom of the bionic foot, and the two groups of bionic power components are respectively located on both sides of the through hole; A sensor monitoring system, which is arranged on the bionic foot and is used to detect environmental information; The bionic power assembly comprises a front mounting seat, a rear mounting seat, a telescopic joint and a sliding seat; a slide groove is provided on the bionic foot seat, the sliding seat and the slide groove are slidably connected, the rear mounting seat is arranged on the sliding seat, a bracket is fixedly provided at the front end of the bottom of the bionic foot seat, the front mounting seat is arranged on the bracket, and at least one set of telescopic joints is arranged between the front mounting seat and the rear mounting seat; A plurality of telescopic sections are hingedly connected end to end to form a telescopic chain, one end of the telescopic chain is hingedly connected to the front mounting seat, and the other end of the telescopic chain is hingedly connected to the rear mounting seat; The telescopic joint comprises a first connecting section, a second connecting section, a telescopic airbag, and an air pump. The telescopic airbag is fixedly arranged between the first connecting section and the second connecting section; and the telescopic airbag is arranged obliquely, the telescopic airbag is connected to the air pump, and the telescopic airbag is controlled by the air pump; The bionic power assembly also includes a rotating motor, which is fixedly mounted on the bracket, the front mounting seat is rotatably connected to the bracket, the rear mounting seat is rotatably connected to the sliding seat, the rotating motor is transmission-connected to the front mounting seat, and the first connecting section is provided with a plurality of hemispherical holes, in which a plurality of balls are rollingly arranged, and parts of the balls protrude out of the hemispherical holes.

2. The bionic driving device of a humanoid robot according to claim 1, characterized in that: The first propeller assembly includes a first drive motor, a first mounting seat, a first propeller motor and a first propeller, the first mounting seat is provided with a rotating shaft, the first mounting seat is placed in the through hole, an axial hole is opened on the hole wall of the through hole, the rotating shaft and the axial hole are rotatably matched, the first propeller motor and the first mounting seat are fixedly connected, and the first propeller is fixedly arranged on the output shaft of the first propeller motor; the first drive motor is fixedly installed on the bionic foot, and the first drive motor and the rotating shaft are transmission connected.

3. The bionic driving device of a humanoid robot according to claim 2, characterized in that: The bionic foot base is provided with two through holes, and the two through holes are arranged front to back; the first propeller assembly is arranged in each of the two through holes.

4. The bionic driving device of a humanoid robot according to claim 1, characterized in that: The propeller drive system also includes a second propeller assembly, which includes a second drive motor, a second mounting seat, an extension frame, a second propeller motor and a second propeller. The second drive motor is fixedly mounted on the heel mounting plate of the bionic foot, one end of the extension frame is rotatably connected to the heel mounting plate, the second drive motor is transmission-connected to the extension frame, a second mounting seat is fixedly provided on the other end of the extension frame, a second propeller motor is fixedly installed on the second mounting seat, and the second propeller is fixedly provided on the output shaft of the second propeller motor.

5. The bionic driving device of a humanoid robot according to claim 4, characterized in that: Four groups of the second propeller assemblies are arranged on the heel mounting plate, and the four groups of the second propeller assemblies are symmetrically arranged.

6. The bionic drive device of a humanoid robot according to any one of claims 1 to 5, characterized in that: The sensing monitoring system comprises a pressure sensor, a temperature sensor and a humidity sensor, and a plurality of the pressure sensors, a plurality of the temperature sensors and a plurality of the humidity sensors are all arranged on the bionic foot seat and the bionic power assembly.

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