Humanoid robot capable of performing amphibious operation

Abstract

The invention relates to the technical field of foot type robots, in particular to a humanoid robot capable of performing amphibious operation. The invention relates to a pair of health-care underwear which comprises an upper body structure and a lower body structure, the upper body structure is connected with the lower body structure through a waist assembly, the upper body structure comprises a chest assembly connected with the waist assembly, arm assemblies are arranged on the left side and the right side of the chest assembly respectively, and all the arm assemblies are connected with the chest assembly through shoulder assemblies. The front end of each arm assembly is provided with a hand assembly. The upper half body collects information through visual sense and auditory sense, and executes commands through the control mechanism to carry out processing tasks of related operations. The lower half body adopts a five-degree-of-freedom driving mode, so that the problem of convenient underwater movement of the humanoid robot is effectively solved, the angle of the humanoid robot can be adjusted at will underwater, the upper half body of the humanoid robot can execute commands conveniently, meanwhile, the robot can be suitable for amphibious working scenes, the universality of the robot is improved, and the application range of the robot is widened. The problems in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of foot-type robots, and in particular to a humanoid robot capable of amphibious operations. Background Art

[0002] An underwater robot is a tool that integrates seabed search, investigation, identification and salvage operations. At present, most robots used underwater are multi-legged robots (mostly hexapod robots). Multi-legged robots have strong terrain adaptability and anti-disturbance capabilities, and perform well in narrow space operations on the seabed and near the side wall. Compared with multi-legged robots, humanoid robots can rely on the excellent configuration of torso and limbs to move while the upper body performs other actions at the same time, completing more complex underwater operations, and are suitable for different complex scenes of amphibious and land. However, how humanoid robots can adapt to large underwater disturbances and complete fast movement in complex terrain has become an important factor limiting humanoid robots' underwater operations. After all, as the water depth continues to increase, its water pressure and flow rate also increase geometrically, and there are far more uncontrollable factors than on land. Therefore, how humanoid robots can better adapt to the underwater environment and operate smoothly underwater is still a bottleneck problem faced by the industry. Summary of the invention

[0003] In order to make up for the deficiencies of the prior art, the present invention provides a humanoid robot capable of amphibious operations. The robot has a compact and reasonable structural design. The upper body collects information through vision and hearing, and executes commands through a control mechanism to perform processing tasks for related operations. The buoyancy adjustment mechanism can control the robot's floating and sinking underwater, while the vector thruster can control the robot's swimming underwater, making it convenient for the robot to quickly enter a working position. The lower body adopts a five-degree-of-freedom drive method, which effectively solves the problem of convenient underwater movement of the humanoid robot, and allows the humanoid robot to arbitrarily adjust its angle underwater to facilitate the execution of commands by its upper body. At the same time, the robot can be applied to amphibious working scenarios, thereby improving its versatility and solving the problems existing in the prior art.

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

[0005] A humanoid robot capable of amphibious operations comprises an upper body structure and a lower body structure, wherein the upper body structure is connected to the lower body structure via a waist component, the upper body structure comprises a chest component connected to the waist component, arm components are respectively arranged on the left and right sides of the chest component, each arm component is connected to the chest component via a shoulder component, a hand component is arranged at the front end of each arm component, a head component is arranged above the chest component, the head component is connected to the chest component via a neck component, and a buoyancy adjustment mechanism is arranged at the rear side of the chest component; the lower body component comprises hip components symmetrically arranged on the left and right sides of the bottom of the waist component, thigh components are arranged on the two hip components, calf components cooperating therewith are arranged on the two thigh components, and foot components are arranged on the two calf components;

[0006] The waist assembly comprises a trapezoidal frame, a connecting seat is arranged in the center of the top plate of the trapezoidal frame, clamping holes are symmetrically arranged in the middle of the side walls on the front and rear sides of the trapezoidal frame, the waist sealed cabin is fixedly clamped in the clamping holes, waist motors are symmetrically arranged on the left and right sides of the bottom plate of the trapezoidal frame, and the two waist motors are respectively fixedly connected to the bottom plate of the trapezoidal frame;

[0007] The chest assembly comprises a chest frame arranged on a connecting seat, the chest frame comprises a chest front cover, a chest rear cover, a chest left cover, a chest right cover, a chest upper cover and a chest base, a chest sealed cabin is fixedly mounted in the chest frame, a control mechanism is arranged in the chest sealed cabin, and a plurality of vector thrusters are arranged on the outer sides of the chest left cover and the chest right cover;

[0008] The shoulder assembly includes a shoulder motor bracket arranged on one side of the top of the chest frame, a shoulder motor base is fixedly connected to the outer side of the shoulder motor bracket, and a shoulder motor is connected to the shoulder motor base through a shoulder motor fixed end;

[0009] The arm assembly includes an arm bracket connected to the output shaft of the shoulder motor, and the arm bracket includes two arm fixing plates arranged in parallel, the two arm fixing plates are respectively connected through arm connecting plates arranged on the front and rear sides thereof, and the top ends thereof are connected through arm arc plates, a forearm is arranged below the arm bracket, and the inner end of the forearm is movably clamped to the bottom of the arm bracket through arm clamping shafts arranged on the left and right sides of the end thereof, an arm servo is arranged at the outer bottom of one of the arm fixing plates, and the output shaft of the arm servo movably passes through the arm fixing plate on this side and is connected to the arm clamping shaft;

[0010] The hand assembly comprises a hand branch tube arranged at the end of the forearm, a hand shell is arranged at the outer end of the hand branch tube, a hand bottom plate is arranged on the hand shell, a hand servo is fixedly arranged in the hand shell, the output shaft of the hand servo moves outward in sequence through the hand shell and is connected to the hand bottom plate and the hand lead screw, a hand sliding plate connected to the hand lead screw thread is arranged on the outer side of the hand bottom plate, a plurality of external hinge seats are evenly arranged on the outer side wall of the hand bottom plate along its circumferential direction, a finger claw is movably hinged on each external hinge seat, an inner hinge seat is arranged on the outer side wall of the hand sliding plate corresponding to each external hinge seat position, and the inner end of the finger claw is movably hinged to the inner hinge seat on the corresponding side respectively;

[0011] The neck assembly comprises a neck lower tray arranged at the center of the chest upper cover surface, a neck ball bearing is arranged at the center of the neck lower tray, a lower end of a neck rotating shaft passes downward through the neck ball bearing and is connected to a neck lower servo output shaft arranged below the chest upper cover, and an upper end of the neck rotating shaft is connected to a neck upper servo housing through the neck upper tray, a neck upper servo housing is arranged inside the neck upper servo housing, and the output shaft of the neck upper servo horizontally passes through the neck upper servo housing and is connected to a neck fixing plate;

[0012] The head assembly comprises a head frame, which comprises a head front cover, a head back cover, a head left cover, a head right cover, a head upper cover and a head base, a binocular waterproof camera for observing the outside is provided on the head base, an obstacle avoidance sonar is provided on the head upper cover, and a head flip frame is provided at the bottom of the head base, the neck servo housing is movably connected to the head flip frame, and the output shaft of the neck servo horizontally passes through the head flip frame and is connected to the head flip frame through a neck fixing plate;

[0013] The hip assembly includes a horizontal rotating plate connected to the output end of the waist motor, hip splints connected to the horizontal rotating plate are symmetrically arranged on the front and rear sides of the horizontal rotating plate, a hip flip frame is arranged between the two hip splints, a hip motor is arranged on the rear hip splint, the output end of the hip motor passes through the hip splint on this side and is fixedly connected to the hip flip frame, and a hip clamping shaft movably clamped on the front hip splint is arranged on the front side of the hip flip frame;

[0014] The thigh assembly includes a thigh motor fixedly connected to the hip turning frame, the output end of the thigh motor is connected to a thigh bracket vertically arranged outside the hip assembly, the thigh bracket includes two thigh fixing plates arranged in parallel, the upper parts of the two thigh fixing plates are connected by an arc-shaped connecting plate, and the lower parts are connected by a thigh fixing shaft;

[0015] The calf assembly includes a calf motor arranged on the upper outer wall of the thigh bracket, the output end of the calf motor passes through the outer thigh fixing plate and is connected to the driving gear arranged in the thigh bracket, a calf bracket is movably hinged on the thigh fixing shaft of the thigh bracket, the calf bracket includes two calf fixing plates arranged in parallel, the upper parts of the two calf fixing plates are movably hinged on the thigh fixing shaft, the middle parts are connected by the calf connecting plate, and the lower parts are connected by the calf fixing shaft, a transmission gear is movably sleeved on the thigh fixing shaft between the two calf fixing plates, the left and right sides of the transmission gear are respectively connected to the calf fixing plates on the corresponding side, and a transmission belt is wound around the driving gear and the transmission gear;

[0016] The foot component includes a foot base plate, a foot support plate movably hinged on the calf fixed axis is provided on the surface of the foot base plate, a foot motor is provided in the middle of the calf support, the output end of the foot motor is connected to the driving rod, a foot support column is provided on the side wall of the foot support plate facing the driving rod, the upper end of a linkage rod is movably hinged on the outer end of the driving rod, and the lower end of the linkage rod is movably hinged on the foot support column.

[0017] Optionally, the buoyancy adjustment mechanism includes an oil bag arranged on the rear side of the waist assembly, the oil bag is connected to the waist assembly through a support frame arranged on the left and right sides of the trapezoidal frame top plate, a sleeve is provided on the rear side wall of the chest assembly, a sealing tube base is sealingly connected to the outer end of the sleeve, a buoyancy servo is provided on the sealing tube base in the sleeve, the output shaft of the buoyancy servo passes through the sealing tube base and is connected to the adjusting screw, a plurality of clamping seats are respectively provided on the edge of the outer side wall of the sealing tube base, a sealing tube is provided on the outside of the sealing tube base, the open end of the sealing tube abuts against the outer side wall of the sealing tube base, a locking clamp is provided on the sealing tube, and matching clamps are respectively provided on the locking clamps corresponding to the positions of the clamping seats, a piston disk threadedly connected to the adjusting screw is provided in the sealing tube, one end of an oil delivery pipe is connected to the outer end of the sealing tube, and the other end is connected to the oil bag.

[0018] Optionally, the control mechanism includes bracket fixing plates symmetrically arranged on the left and right sides of the chest sealed cabin, and three layers of bracket partitions are horizontally spaced from top to bottom between the two bracket fixing plates, an industrial control mainboard is arranged on the lower bracket partition, an optical inertial navigation system, a transformer and a relay are respectively arranged on the middle bracket partition, and an expansion port and a router are respectively arranged on the upper bracket partition.

[0019] Optionally, a hip bearing movably sleeved on the hip clamping shaft is provided on the hip splint corresponding to one side of the hip clamping shaft.

[0020] Optionally, a limiting circular plate clamped in the hip turning frame is provided on the left and right sides of the thigh motor respectively.

[0021] Optionally, the connecting seat includes a connecting sleeve, the connecting sleeve is connected and arranged on the top plate of the trapezoidal frame, and a flange is provided on the connecting sleeve.

[0022] Optionally, a tensioning column is provided between the two thigh fixing plates, and sliding grooves are respectively provided in the horizontal direction on the two thigh fixing plates corresponding to the position of the tensioning column. The two axial ends of the tensioning column are respectively movably engaged in the sliding grooves on the corresponding side, and the transmission belt is wound around the tensioning column.

[0023] Optionally, a sealing mechanism is provided on the waist motor, hip motor, thigh motor, calf motor and foot motor, and the sealing mechanism is sleeved on a sealing sleeve on the outside of the waist motor, hip motor, thigh motor, calf motor or foot motor, an outer end cover is provided at one end of the sealing sleeve, a threading screw is provided on the outer end cover, and an inner end cover is provided at the other end of the sealing sleeve, and the output end of the waist motor, hip motor, thigh motor, calf motor or foot motor is movably passed through the inner end cover and connected to the connecting flange.

[0024] The present invention adopts the above technical solution, and has the following advantages: the structural design is compact and reasonable, the upper body collects information through vision and hearing, and executes commands through the control mechanism to perform related operation processing tasks, the buoyancy adjustment mechanism can control the robot's floating and sinking underwater, and the vector thruster can control the robot's swimming underwater, so that the robot can quickly enter the working position; the lower body adopts a five-degree-of-freedom drive method, which effectively solves the problem of convenient movement of the humanoid robot underwater, and can make the humanoid robot arbitrarily adjust the angle underwater to facilitate the execution of commands by its upper body. At the same time, the robot can be suitable for amphibious working scenarios, thereby improving its versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0026] Figure 2 is a schematic diagram of the three-dimensional structure of the waist component;

[0027] Figure 3 This is a schematic diagram of the three-dimensional structure of the chest component in an exploded state;

[0028] Figure 4 It is a three-dimensional structural diagram of the upper body structure;

[0029] Figure 5 This is a three-dimensional structural diagram of the arm assembly in an exploded state;

[0030] Figure 6 This is a schematic diagram of the three-dimensional structure of the hand component in an exploded state;

[0031] Figure 7 It is a three-dimensional structural schematic diagram of the neck mechanism in an exploded state;

[0032] Figure 8 It is a three-dimensional structural schematic diagram of the head mechanism in an exploded state;

[0033] Fig. 9 It is a three-dimensional structural schematic diagram of the explosion state of the control mechanism;

[0034] Fig.10 It is a three-dimensional structural schematic diagram of the buoyancy regulating mechanism in an exploded state;

[0035] Fig.11 It is a three-dimensional structural diagram of the lower body structure;

[0036] Fig.12 is a schematic diagram of the three-dimensional structure of the hip component;

[0037] Fig.13 It is a schematic diagram of the three-dimensional structure of the thigh component;

[0038] Fig.14 It is a three-dimensional structural schematic diagram of the calf component;

[0039] Fig.15 is a schematic diagram of the three-dimensional structure of the sealing mechanism;

[0040] In the figure, 1. waist component;

[0041] 101, trapezoidal frame; 101a, top plate; 101b, bottom plate; 102, connection seat; 102a, connection sleeve; 102b, flange; 103, clamping hole; 104, waist sealed cabin; 105, waist motor;

[0042] 2. Chest component;

[0043] 201, chest frame; 201a, chest front cover; 201b, chest back cover; 201c, chest left cover; 201d, chest right cover; 201e, chest upper cover; 201f, chest base; 202, chest sealed cabin; 203, vector thruster;

[0044] 3. Arm assembly;

[0045] 301, arm bracket; 301a, arm fixing plate; 301b, arm connecting plate; 301c, arm arc plate; 302, forearm; 303, arm clamping shaft; 304, arm servo;

[0046] 4. Shoulder assembly;

[0047] 401, shoulder motor bracket; 402, shoulder motor base; 403, shoulder motor; 404, shoulder motor fixed end;

[0048] 5. Hand assembly;

[0049] 501, hand branch pipe; 502, hand shell; 503, hand bottom plate; 504, hand servo; 505, hand sliding plate; 506, external hinge seat; 507, finger claw; 508, internal hinge seat; 509, hand lead screw;

[0050] 6. Head assembly;

[0051] 601, head frame; 601a, head front cover; 601b, head back cover; 601c, head left cover; 601d, head right cover; 601e, head top cover; 601f, head base; 602, binocular waterproof camera; 603, obstacle avoidance sonar; 604, head flip frame;

[0052] 7. Neck assembly;

[0053] 701, lower tray of neck; 702, ball bearing of neck; 703, rotating shaft of neck; 704, servo under neck; 705, upper tray of neck; 706, servo housing of upper neck; 707, servo on neck; 708, fixing plate of neck;

[0054] 8. Hip component;

[0055] 801, horizontal rotation plate; 802, hip splint; 803, hip turning frame; 804, hip motor; 805, hip clamping shaft;

[0056] 9. Thigh component;

[0057] 901, thigh motor; 902, thigh bracket; 902a, thigh fixing plate; 902b, arc-shaped connecting plate; 902c, thigh fixing shaft;

[0058] 10. Calf assembly;

[0059] 1001, calf motor; 1002, driving gear; 1003, calf bracket; 1003a, calf fixing plate; 1003b, calf connecting plate; 1003c, calf fixing shaft; 1004, transmission gear; 1005, transmission belt;

[0060] 11. Foot components;

[0061] 1101, foot bottom plate; 1102, foot support plate; 1103, foot motor; 1104, drive rod; 1105, foot support column; 1106, linkage rod;

[0062] 12. Oil bag; 13. Support frame; 14. Sleeve; 15. Sealing tube base; 16. Buoyancy servo; 17. Adjusting screw; 18. Adapter; 19. Sealing tube; 20. Locking clamp; 21. Chuck; 22. Piston disc; 23. Oil pipeline; 24. Bracket fixing plate; 25. Bracket partition; 26. Industrial control motherboard; 27. Optical inertial navigation; 28. Transformer; 29. ​​Relay; 30. Extension port; 31. Router; 32. Hip bearing; 33. Limiting circular plate; 34. Tensioning column; 35. Slide; 36. Sealing sleeve; 37. Outer end cover; 38. Threading screw; 39. Inner end cover; 40. Connecting flange. DETAILED DESCRIPTION

[0063] In order to clearly illustrate the technical features of the present solution, the present invention is described in detail below through specific implementation methods and in conjunction with the accompanying drawings. In the following description, many specific details are described to facilitate a full understanding of the present application. However, the present application can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present application is not limited by the specific embodiments disclosed below.

[0064] In addition, in the description of the present application, it should be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0065] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, they can be fixedly connected, detachably connected, or integrated. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0066] like Figure 1-15 As shown, in this embodiment, a humanoid robot capable of amphibious operations includes an upper body structure and a lower body structure, wherein the upper body structure is connected to the lower body structure through a waist component 1, the upper body structure includes a chest component 2 connected to the waist component 1, arm components 3 are respectively provided on the left and right sides of the chest component 2, each arm component 3 is connected to the chest component 2 through a shoulder component 4, a hand component 5 is provided at the front end of each arm component 3, a head component 6 is provided above the chest component 2, the head component 6 is connected to the chest component 2 through a neck component 7, and a buoyancy adjustment mechanism is provided on the rear side of the chest component 2; the lower body component includes hip components 8 symmetrically arranged on the left and right sides of the bottom of the waist component 1, thigh components 9 are provided on the two hip components 8, calf components 10 cooperating therewith are provided on the two thigh components 9, and foot components 11 are provided on the two calf components 10;

[0067] The waist component 1 includes a trapezoidal frame 101, a connecting seat 102 is provided in the center of the top plate 101a of the trapezoidal frame 101, clamping holes 103 are symmetrically provided in the middle of the front and rear side walls of the trapezoidal frame 101, a waist sealing cabin 104 is fixedly clamped in the clamping holes 103, and waist motors 105 are symmetrically provided on the left and right sides of the bottom plate 101b of the trapezoidal frame 101, and the two waist motors 105 are respectively fixedly connected to the bottom plate 101b of the trapezoidal frame 101; the two waist motors 105 respectively control the radial rotation of the hip component on the corresponding side to make its movement more flexible.

[0068] The chest assembly 2 includes a chest frame 201 arranged on the connecting seat 102, and the chest frame 201 includes a chest front cover 201a, a chest rear cover 201b, a chest left cover 201c, a chest right cover 201d, a chest upper cover 201e and a chest base 201f. A chest sealed cabin 202 is fixedly mounted in the chest frame 201, a control mechanism is arranged in the chest sealed cabin 202, and a plurality of vector thrusters 203 are arranged on the outer sides of the chest left cover 201c and the chest right cover 201d; through the plurality of vector thrusters 203 on both sides, the floating position of the robot underwater can be controlled, thereby improving the robot's underwater mobility.

[0069] The shoulder assembly 4 includes a shoulder motor bracket 401 arranged on one side of the top of the chest frame 201, a shoulder motor base 402 is fixedly connected to the outer side of the shoulder motor bracket 401, and a shoulder motor 403 is connected to the shoulder motor base 402 through a shoulder motor fixed end 404; the shoulder motor 403 can control the rotation of the arm assembly 3, thereby facilitating the hand assembly 5 to quickly move to the corresponding position.

[0070] The arm assembly 3 includes an arm support 301 connected to the output shaft of the shoulder motor 403, and the arm support 301 includes two parallel arm fixing plates 301a. The two arm fixing plates 301a are respectively connected by arm connecting plates 301b arranged on the front and rear sides thereof, and their top ends are connected by an arm arc plate 301c. A forearm 302 is provided below the arm support 301, and the inner end of the forearm 302 is movably connected to the bottom of the arm support 301 through an arm clamping shaft 303 arranged on the left and right sides of the end thereof. An arm servo 304 is provided at the outer bottom of one of the arm fixing plates 301a, and the output shaft of the arm servo 304 movably passes through the arm fixing plate 301a on this side and is connected to the arm clamping shaft 303; the output shaft of the arm servo 304 drives the forearm 302 to flip through the arm clamping shaft 303, thereby further adjusting the position of the hand assembly 5, so that the hand assembly 5 can be adjusted more easily.

[0071] The hand assembly 5 includes a hand branch pipe 501 arranged at the end of the forearm 302, a hand shell 502 is arranged at the outer end of the hand branch pipe 501, a hand base plate 503 is arranged on the hand shell 502, a hand servo 504 is fixed in the hand shell 502, the output shaft of the hand servo 504 moves outward in sequence through the hand shell 502 and is connected to the hand base plate 503 and the hand lead screw 509, a hand sliding plate 505 threadedly connected to the hand lead screw 509 is arranged on the outer side of the hand base plate 503, and a plurality of external hinge seats 506 are evenly arranged on the outer side wall of the hand base plate 503 along its circumferential direction, and each external hinge seat 506 is movable The hand sliding plate 505 is provided with an inner hinge seat 508 on the outer side wall of the hand sliding plate 505 corresponding to each outer hinge seat 506. The inner end of the finger claw 507 is movably hinged to the inner hinge seat 508 on the corresponding side. With the start of the hand servo 504, the hand lead screw 509 is driven to rotate, thereby driving the hand sliding plate 505 threadedly connected thereto to move closer to or away from the hand base plate 503. The hand sliding plate 505 pulls each finger claw 507 through each inner hinge seat 508, so that it shrinks inward or extends outward along its respective outer hinge seat 506 at the same time, thereby facilitating the grabbing of objects.

[0072] The neck assembly 7 includes a neck lower tray 701 arranged in the center of the surface of the chest upper cover 205e, a neck ball bearing 702 is arranged in the center of the neck lower tray 701, the lower end of a neck rotating shaft 703 passes downward through the neck ball bearing 702 and is connected to the output shaft of the neck lower servo 704 arranged below the chest upper cover 205e, and the upper end of the neck rotating shaft 703 is connected to the neck upper servo housing 706 through the neck upper tray 705, and a neck upper servo 707 is arranged in the neck upper servo housing 706, and the output shaft of the neck upper servo 707 horizontally passes through the neck upper servo housing 706 and is connected to the neck fixing plate 708; the output shaft of the neck lower servo 707 controls the horizontal rotation of the entire neck assembly 7 and the head assembly 6 connected to the neck assembly 7, and the neck upper servo 704 controls the up and down flipping of the entire head assembly 6 through the neck fixing plate 708, so that the head flip frame 604 rotates along the neck upper servo housing 706, thereby further improving the observation field of the binocular waterproof camera 602.

[0073] The head assembly 6 includes a head frame 601, which includes a head front cover 601a, a head back cover 602b, a head left cover 603c, a head right cover 604d, a head upper cover 605e and a head base 606f. A binocular waterproof camera 602 for observing the outside is provided on the head base 606f, an obstacle avoidance sonar 603 is provided on the head upper cover 605e, and a head flip frame 604 is provided at the bottom of the head base 606f. The shell of the neck servo 704 is movably connected to the head flip frame 604, and the output shaft of the neck servo 704 horizontally passes through the head flip frame 604 and is connected to the head flip frame 604 through the neck fixing plate 708; the obstacle avoidance sonar 603 can effectively identify the environmental information within a radius of several meters around the robot, and help the robot to make avoidance or decision in time. The binocular waterproof camera 602 is used for visual perception of land and near underwater environment.

[0074] The hip assembly 8 comprises a horizontal rotating plate 801 connected to the output end of the waist motor 105, hip splints 802 connected thereto are symmetrically arranged on the front and rear sides of the horizontal rotating plate 801, a hip turning frame 803 is arranged between the two hip splints 802, a hip motor 804 is arranged on the rear hip splint 802, the output end of the hip motor 804 passes through the hip splint 802 on this side and is fixedly connected to the hip turning frame 803, and a hip clamping shaft 805 movably clamped on the front hip splint 802 is arranged on the front side of the hip turning frame 803;

[0075] The thigh assembly 9 includes a thigh motor 901 fixedly connected to the hip turning frame 803, the output end of the thigh motor 901 is connected to a thigh support 902 vertically arranged outside the hip assembly 8, and the thigh support 902 includes two thigh fixing plates 902a arranged in parallel, the upper parts of the two thigh fixing plates 902a are connected by an arc-shaped connecting plate 902b, and the lower parts are connected by a thigh fixing shaft 902c;

[0076] The calf assembly 10 includes a calf motor 1001 disposed on the upper outer wall of the thigh support 902, the output end of the calf motor 1001 passes through the outer thigh fixing plate 902a and is connected to the driving gear 1002 disposed in the thigh support 902, a calf support 1003 is movably hinged on the thigh fixing shaft 902c of the thigh support 902, the calf support 1003 includes two parallel calf fixing plates 1003a, the two calf fixing plates 1003a The upper part is movably hinged on the thigh fixed shaft 902c, the middle part is connected through the calf connecting plate 1003b, and the lower part is connected through the calf fixed shaft 1003c. A transmission gear 1004 is movably sleeved on the thigh fixed shaft 902c between the two calf fixed plates 1003a. The left and right sides of the transmission gear 1004 are respectively connected to the calf fixed plate 1003a on the corresponding side. A transmission belt 1005 is wound around the driving gear 1002 and the transmission gear 1004;

[0077] The foot component 11 includes a foot base plate 1101, on the surface of the foot base plate 1101 is provided a foot support plate 1102 movably hinged on the calf fixed axis 1003c, a foot motor 1103 is provided in the middle of the calf support 1003, the output end of the foot motor 1103 is connected to the driving rod 1104, a foot support column 1105 is provided on the side wall of the foot support plate 1102 facing the driving rod 1104, a linkage rod 1106 has its upper end movably hinged to the outer end of the driving rod 1104, and its lower end movably hinged to the foot support column 1105.

[0078] Optionally, the buoyancy adjustment mechanism includes an oil bag 12 arranged at the rear side of the waist component 1, the oil bag 12 is connected to the waist component 1 through a support frame 13 arranged on the left and right sides of the top plate 101a of the trapezoidal frame 101, a sleeve 14 is provided on the rear side wall of the chest component 2, a sealing tube base 15 is sealed and connected to the outer end of the sleeve 14, a buoyancy steering gear 16 is provided on the sealing tube base 15 in the sleeve 14, the output shaft of the buoyancy steering gear 16 passes through the sealing tube base 15 and is connected to the adjusting screw 17, and the outer wall of the sealing tube base 15 is provided with a buoyancy steering gear 16. A plurality of clamping seats 18 are respectively provided on the edges, a sealing cylinder 19 is provided on the outside of the sealing cylinder base 15, the open end of the sealing cylinder 19 abuts against the outer wall of the sealing cylinder base 15, a locking clamp 20 is provided on the sealing cylinder 19, and a clamping head 21 matching therewith is respectively provided on the locking clamp 20 corresponding to the position of each clamping seat 18, a piston disk 22 threadably connected to the adjusting screw 17 is provided in the sealing cylinder 19, one end of an oil delivery pipe 23 is connected to the outer end of the sealing cylinder 19, and the other end is connected to the oil bag 12.

[0079] Optionally, the control mechanism includes a bracket fixing plate 24 symmetrically arranged on the left and right sides of the chest sealed cabin 202, three layers of bracket partitions 25 are horizontally arranged from top to bottom between the two bracket fixing plates 24, an industrial control mainboard 26 is arranged on the bracket partition 25 of the lower layer, a fiber optic inertial navigation system 27, a transformer 28 and a relay 29 are respectively arranged on the bracket partition 25 of the middle layer, and an expansion port 30 and a router 31 are respectively arranged on the bracket partition 25 of the upper layer. The industrial control mainboard 26 enables the robot to have modular computing capabilities, the fiber optic inertial navigation system 27 is used to obtain the real-time speed and posture information of the upper body of the robot, the transformer 28 is used to convert the total voltage into the working voltage required by different sensors, and the relay 29 is used to control the start and stop of the equipment. Since the interface of the industrial control mainboard 26 is not enough to meet the needs of all motors, the expansion port 30 is mainly used to increase the number of devices that can be connected to the industrial control mainboard 26, and the router 31 is used to meet the communication requirements in the land state.

[0080] Optionally, a hip bearing 32 movably sleeved on the hip clamping shaft 805 is provided on the hip splint 802 corresponding to one side of the hip clamping shaft 805. The hip bearing 32 can improve the smoothness of the rotation of the hip clamping shaft 805.

[0081] Optionally, a limiting circular plate 33 is provided on the left and right sides of the thigh motor 901, which is clamped in the hip turning frame 803. The thigh motor 901 can be more firmly fixed in the hip turning frame 803 through two limiting circular plates 33 to prevent dislocation caused by shaking.

[0082] Optionally, the connection seat 102 includes a connection sleeve 102a, the connection sleeve 102a is communicatively arranged on the top plate 101a of the trapezoidal frame 101, and a flange 102b is arranged on the connection sleeve 102a.

[0083] Optionally, a tensioning column 34 is provided between the two thigh fixing plates 902a, and slide grooves 35 are respectively provided in the horizontal direction on the two thigh fixing plates 902a corresponding to the positions of the tensioning column 34, and the two axial ends of the tensioning column 34 are respectively movably engaged in the slide grooves 35 on the corresponding side, and the transmission belt 1005 is wound around the tensioning column 34. The tensioning column 34 can tighten the transmission belt 1005, making the transmission effect of the transmission belt 1005 more significant.

[0084] Optionally, a sealing mechanism is provided on the waist motor 105, the hip motor 804, the thigh motor 901, the calf motor 1001 and the foot motor 1103, and the sealing mechanism is sleeved on the sealing sleeve 36 outside the waist motor 105, the hip motor 804, the thigh motor 901, the calf motor 1001 or the foot motor 1103, an outer end cover 37 is provided at one end of the sealing sleeve 36, a threading screw 38 is provided on the outer end cover 37, and an inner end cover 39 is provided at the other end of the sealing sleeve 36, and the output end of the waist motor 105, the hip motor 804, the thigh motor 901, the calf motor 1001 or the foot motor 1103 is movably passed through the inner end cover 39 and connected to the connecting flange 40. The waist motor 105, the hip motor 804, the thigh motor 901, the calf motor 1001 or the foot motor 1103 adopts a sealed structure, which can reduce the damage to them by seawater.

[0085] The lower body structure of the device has five dimensions of joint adjustment when moving. First, the adjustment of the waist component 1. The two waist motors 105 drive the corresponding horizontal rotating plates 801 to rotate horizontally, so as to adjust the horizontal angles of the hip component 8, thigh component 9, calf component 10 and foot component 11 on the corresponding side; second, the adjustment of the hip component 8. The hip motor 804 fixed on the hip splint 802 drives the hip flip frame 803 to rotate along the direction of the hip clamping axis 805 in the two hip splints 802, so as to adjust the left and right tilt angles of the thigh component 9, calf component 10 and foot component 11 on this side; third, the adjustment of the thigh component 9. The thigh motor 901 on this side drives the thigh bracket 902 to rotate, so as to adjust the front and rear tilt angles of the calf component 10 and foot component 11 on this side; fourth, the adjustment of the calf component 1 0, the calf motor 1001 on this side drives the driving gear 1002 to rotate, and then drives the driving gear 1004 to rotate through the transmission belt 1005, and the transmission gear 1004 drives the calf support 1003 to rotate along the thigh fixed axis 902c, thereby adjusting the inclination angle between the calf component 10 and the foot component 11 and the thigh component 9 on this side; Fifth, the adjustment of the foot component 11, the foot motor 1103 drives the driving rod 1104 to rotate, thereby pulling the foot support column 1105 on this side to move through the linkage rod 1106, and with the movement of the foot support column 1105, the foot base plate 1101 is rotated along the calf fixed axis 1003c, thereby adjusting the inclination angle between the foot component 11 and the calf component 10 on this side. Its structural design is compact and reasonable. The upper body collects information through vision and hearing, and executes commands through the control mechanism to perform related processing tasks. The buoyancy adjustment mechanism can control the robot's floating and sinking underwater, and the vector thruster can control the robot's swimming underwater, making it convenient for the robot to quickly enter the working position; the lower body adopts a five-degree-of-freedom drive method, which effectively solves the problem of convenient movement of humanoid robots underwater, and allows the humanoid robot to arbitrarily adjust its angle underwater to facilitate the execution of commands by its upper body. At the same time, the robot can be used in amphibious work scenarios, improving its versatility and solving problems existing in the prior art.

[0086] 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 above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced 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 description of the present invention. For those skilled in the art, any replacement, improvement or change made to the implementation mode of the present invention falls within the protection scope of the present invention.

[0087] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A humanoid robot capable of amphibious operations, characterized in that: The upper body structure comprises an upper body structure and a lower body structure, wherein the upper body structure is connected to the lower body structure through a waist component, the upper body structure comprises a chest component connected to the waist component, arm components are respectively arranged on the left and right sides of the chest component, each arm component is connected to the chest component through a shoulder component, a hand component is arranged at the front end of each arm component, a head component is arranged above the chest component, the head component is connected to the chest component through a neck component, and a buoyancy adjustment mechanism is arranged on the rear side of the chest component; the lower body component comprises hip components symmetrically arranged on the left and right sides of the bottom of the waist component, thigh components are arranged on the two hip components, calf components cooperating therewith are arranged on the two thigh components, and foot components are arranged on the two calf components; The waist assembly comprises a trapezoidal frame, a connecting seat is arranged in the center of the top plate of the trapezoidal frame, clamping holes are symmetrically arranged in the middle of the side walls on the front and rear sides of the trapezoidal frame, the waist sealed cabin is fixedly clamped in the clamping holes, waist motors are symmetrically arranged on the left and right sides of the bottom plate of the trapezoidal frame, and the two waist motors are respectively fixedly connected to the bottom plate of the trapezoidal frame; The chest assembly comprises a chest frame arranged on a connecting seat, the chest frame comprises a chest front cover, a chest rear cover, a chest left cover, a chest right cover, a chest upper cover and a chest base, a chest sealed cabin is fixedly mounted in the chest frame, a control mechanism is arranged in the chest sealed cabin, and a plurality of vector thrusters are arranged on the outer sides of the chest left cover and the chest right cover; The shoulder assembly includes a shoulder motor bracket arranged on one side of the top of the chest frame, a shoulder motor base is fixedly connected to the outer side of the shoulder motor bracket, and a shoulder motor is connected to the shoulder motor base through a shoulder motor fixed end; The arm assembly includes an arm bracket connected to the output shaft of the shoulder motor, and the arm bracket includes two arm fixing plates arranged in parallel, the two arm fixing plates are respectively connected through arm connecting plates arranged on the front and rear sides thereof, and the top ends thereof are connected through arm arc plates, a forearm is arranged below the arm bracket, and the inner end of the forearm is movably clamped to the bottom of the arm bracket through arm clamping shafts arranged on the left and right sides of the end thereof, an arm servo is arranged at the outer bottom of one of the arm fixing plates, and the output shaft of the arm servo movably passes through the arm fixing plate on this side and is connected to the arm clamping shaft; The hand assembly comprises a hand branch tube arranged at the end of the forearm, a hand shell is arranged at the outer end of the hand branch tube, a hand bottom plate is arranged on the hand shell, a hand servo is fixedly arranged in the hand shell, the output shaft of the hand servo moves outward in sequence through the hand shell and is connected to the hand bottom plate and the hand lead screw, a hand sliding plate connected to the hand lead screw thread is arranged on the outer side of the hand bottom plate, a plurality of external hinge seats are evenly arranged on the outer side wall of the hand bottom plate along its circumferential direction, a finger claw is movably hinged on each external hinge seat, an inner hinge seat is arranged on the outer side wall of the hand sliding plate corresponding to each external hinge seat position, and the inner end of the finger claw is movably hinged to the inner hinge seat on the corresponding side respectively; The neck assembly comprises a neck lower tray arranged at the center of the chest upper cover surface, a neck ball bearing is arranged at the center of the neck lower tray, a lower end of a neck rotating shaft passes downward through the neck ball bearing and is connected to a neck lower servo output shaft arranged below the chest upper cover, and an upper end of the neck rotating shaft is connected to a neck upper servo housing through the neck upper tray, a neck upper servo housing is arranged inside the neck upper servo housing, and the output shaft of the neck upper servo horizontally passes through the neck upper servo housing and is connected to a neck fixing plate; The head assembly comprises a head frame, which comprises a head front cover, a head back cover, a head left cover, a head right cover, a head upper cover and a head base, a binocular waterproof camera for observing the outside is provided on the head base, an obstacle avoidance sonar is provided on the head upper cover, and a head flip frame is provided at the bottom of the head base, the neck servo housing is movably connected to the head flip frame, and the output shaft of the neck servo horizontally passes through the head flip frame and is connected to the head flip frame through a neck fixing plate; The hip assembly includes a horizontal rotating plate connected to the output end of the waist motor, hip splints connected to the horizontal rotating plate are symmetrically arranged on the front and rear sides of the horizontal rotating plate, a hip flip frame is arranged between the two hip splints, a hip motor is arranged on the rear hip splint, the output end of the hip motor passes through the hip splint on this side and is fixedly connected to the hip flip frame, and a hip clamping shaft movably clamped on the front hip splint is arranged on the front side of the hip flip frame; The thigh assembly includes a thigh motor fixedly connected to the hip turning frame, the output end of the thigh motor is connected to a thigh bracket vertically arranged outside the hip assembly, the thigh bracket includes two thigh fixing plates arranged in parallel, the upper parts of the two thigh fixing plates are connected by an arc-shaped connecting plate, and the lower parts are connected by a thigh fixing shaft; The calf assembly includes a calf motor arranged on the upper outer wall of the thigh bracket, the output end of the calf motor passes through the outer thigh fixing plate and is connected to the driving gear arranged in the thigh bracket, a calf bracket is movably hinged on the thigh fixing shaft of the thigh bracket, the calf bracket includes two calf fixing plates arranged in parallel, the upper parts of the two calf fixing plates are movably hinged on the thigh fixing shaft, the middle parts are connected by the calf connecting plate, and the lower parts are connected by the calf fixing shaft, a transmission gear is movably sleeved on the thigh fixing shaft between the two calf fixing plates, the left and right sides of the transmission gear are respectively connected to the calf fixing plates on the corresponding side, and a transmission belt is wound around the driving gear and the transmission gear; The foot component includes a foot base plate, a foot support plate movably hinged on the calf fixed axis is provided on the surface of the foot base plate, a foot motor is provided in the middle of the calf support, the output end of the foot motor is connected to the driving rod, a foot support column is provided on the side wall of the foot support plate facing the driving rod, the upper end of a linkage rod is movably hinged on the outer end of the driving rod, and the lower end of the linkage rod is movably hinged on the foot support column.

2. The humanoid robot capable of amphibious operations according to claim 1, characterized in that: The buoyancy adjustment mechanism includes an oil bag arranged on the rear side of the waist assembly, the oil bag is connected to the waist assembly through a support frame arranged on the left and right sides of the top plate of the trapezoidal frame, a sleeve is provided on the rear wall of the chest assembly, a sealing tube base is sealingly connected to the outer end of the sleeve, a buoyancy servo is provided on the sealing tube base in the sleeve, the output shaft of the buoyancy servo passes through the sealing tube base and is connected to the adjusting screw, a plurality of clamping seats are respectively provided on the edge of the outer side wall of the sealing tube base, a sealing tube is provided on the outside of the sealing tube base, the open end of the sealing tube abuts against the outer side wall of the sealing tube base, a locking clamp is provided on the sealing tube, and a clamp matching therewith is respectively provided on the locking clamp corresponding to each clamping seat position, a piston disk threadedly connected to the adjusting screw is provided in the sealing tube, one end of an oil delivery pipe is connected to the outer end of the sealing tube, and the other end is connected to the oil bag.

3. The humanoid robot capable of amphibious operations according to claim 1, characterized in that: The control mechanism includes bracket fixing plates symmetrically arranged on the left and right sides of the chest sealed cabin, and three layers of bracket partitions are horizontally spaced from top to bottom between the two bracket fixing plates. An industrial control mainboard is arranged on the lower bracket partition, an optical inertial navigation system, a transformer and a relay are respectively arranged on the middle bracket partition, and an expansion port and a router are respectively arranged on the upper bracket partition.

4. The humanoid robot capable of amphibious operations according to claim 1, characterized in that: A hip bearing movably sleeved on the hip clamping shaft is arranged on the hip splint corresponding to one side of the hip clamping shaft.

5. The humanoid robot capable of amphibious operations according to claim 1, characterized in that: The left and right sides of the thigh motor are respectively provided with limiting circular plates which are clamped in the hip turning frame.

6. The humanoid robot capable of amphibious operations according to claim 1, characterized in that: The connecting seat comprises a connecting sleeve, which is communicatively arranged on the top plate of the trapezoidal frame, and a flange is arranged on the connecting sleeve.

7. The humanoid robot capable of amphibious operations according to claim 1, characterized in that: A tensioning column is arranged between the two thigh fixing plates, and sliding grooves are arranged horizontally on the two thigh fixing plates corresponding to the position of the tensioning column. The two axial ends of the tensioning column are movably connected in the sliding grooves on the corresponding sides, and the transmission belt is wound around the tensioning column.

8. The humanoid robot capable of amphibious operations according to claim 1, characterized in that: A sealing mechanism is provided on the waist motor, hip motor, thigh motor, calf motor and foot motor. The sealing mechanism is sleeved on a sealing sleeve outside the waist motor, hip motor, thigh motor, calf motor or foot motor. An outer end cover is provided at one end of the sealing sleeve, a threading screw is provided on the outer end cover, and an inner end cover is provided at the other end of the sealing sleeve. The output end of the waist motor, hip motor, thigh motor, calf motor or foot motor movably passes through the inner end cover and is connected to the connecting flange.

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