Biped robot capable of realizing operation dimension conversion based on single motor

Abstract

The invention provides a biped robot capable of realizing operation dimension conversion based on a single motor, the biped robot comprises a robot leg structure, a leg pulling assembly and a motor structure, the robot leg structure comprises a hip joint shaft, a thigh part, a knee joint shaft, a shank part, an ankle joint shaft and a foot part; the thigh part is connected with the shank part through a knee joint shaft; the shank part is connected with the foot part through an ankle joint shaft; the motor structure is arranged in the hip joint shaft; the leg pulling assembly comprises a first pulling piece and a second pulling piece; one end of the first pulling piece is connected to the motor structure, and the other end is connected to the knee joint shaft; one end of the second pulling piece is connected to the motor structure, and the other end is connected to the ankle joint shaft; and rotation of the motor structure enables common pulling action of the first pulling piece and the second pulling piece to drive the thigh part and the shank part to generate linear movement of the robot. The multiple joints of the whole leg can be driven only through one motor structure and the multiple stretching pieces, the complexity and weight of the mechanical structure are greatly reduced, meanwhile, energy consumption and heat loss are reduced, and the energy utilization efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a bipedal robot that realizes operation dimension conversion based on a single motor. Background Art

[0002] Robotics technology is in a stage of rapid development. In the industrial field, industrial robots are widely used in automated production and are developing in a more flexible and intelligent direction; in the service field, service robots are used in many fields such as home, medical care, and education, and have stronger perception, interaction, and autonomous decision-making capabilities; special robots are mainly used in special environments such as military and aerospace, and need to have a high degree of autonomy and adaptability; bionic robots imitate the structure and function of organisms and integrate multidisciplinary knowledge. At the same time, the development of artificial intelligence technology has also greatly promoted the intelligentization of robots. AI technologies such as machine learning and computer vision are widely used in robot perception, decision-making, and control.

[0003] The robot system mainly includes drivers, sensors, electronic circuits, logic processors and other components, among which the most important part is the driver used to realize the robot's movement. Almost all robots currently in use are equipped with a large number of drivers, which greatly increases the complexity of the drive system and increases the number of instructions that the system needs to receive and send exponentially. When subject to external interference, once some of the drive components are damaged, the entire robot will not work properly. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a bipedal robot that realizes operation dimension conversion based on a single motor.

[0005] The present invention provides a bipedal robot for realizing running dimension conversion based on a single motor, comprising a robot leg structure, a leg pulling assembly and a motor structure, wherein: The robot leg structure includes a hip joint axis, a thigh, a knee joint axis, a calf, an ankle joint axis and a foot; the thigh is connected to the calf through a knee joint axis; the calf is connected to the foot through an ankle joint axis; the motor structure is placed in the hip joint axis; The leg pulling assembly comprises a first pulling member and a second pulling member; one end of the first pulling member is connected to the motor structure, and the other end is connected to the knee joint axis; one end of the second pulling member is connected to the motor structure, and the other end is connected to the ankle joint axis; The rotation of the motor structure causes the first pulling member and the second pulling member to pull together to drive the thigh and the calf to produce a linear motion of the robot.

[0006] According to a bipedal robot for realizing operation dimension conversion based on a single motor provided by the present invention, the motor structure includes a motor and an eccentric wheel fixed on the rotating shaft of the motor, a first fixing part is arranged on the outer surface of the eccentric wheel, and the first fixing part is offset to the center position of the outer surface of the eccentric wheel; a second fixing part is arranged at the center position of the outer surface of the knee joint axis; a third fixing part is arranged at the center position of the outer surface of the ankle joint axis; one end of the first pulling member is fixed to the first fixing part, and the other end is fixed to the second fixing part; one end of the second pulling member is fixed to the first fixing part, and the other end is fixed to the third fixing part.

[0007] According to a bipedal robot that realizes operation dimension conversion based on a single motor provided by the present invention, the first stretching member and the second stretching member are made of flexible elastic wires.

[0008] According to the present invention, a bipedal robot that realizes operation dimension conversion based on a single motor is provided, and the motor has a control system.

[0009] According to a bipedal robot that realizes running dimension conversion based on a single motor provided by the present invention, a first limiting portion is provided at the end of the thigh near the knee joint axis, and a second limiting portion is provided at the end of the calf near the knee joint axis; the combined action of the first limiting portion and the second limiting portion enables the calf to rotate maximally around the knee joint axis to be parallel to the thigh.

[0010] According to a bipedal robot that realizes running dimension conversion based on a single motor provided by the present invention, the end of the calf close to the ankle joint axis is provided with a third limiting portion in the forward and backward directions, and the third limiting portion and the foot work together to form an acute angle range of 60-89 degrees with the horizontal plane when the calf is tilted forward and backward respectively.

[0011] According to a bipedal robot for realizing operation dimension conversion based on a single motor provided by the present invention, the foot includes a foot plate and a foot platform for fixing the ankle joint axis, and the foot platform is provided with a fourth limiting portion in the forward and backward directions. Accordingly, the joint action of the third limiting portion and the fourth limiting portion makes the acute angle formed by the calf with the horizontal plane when tilted forward and backward respectively range from 60 to 89 degrees.

[0012] According to a bipedal robot that realizes operation dimension conversion based on a single motor provided by the present invention, a power supply system is embedded in the thigh, and the power supply system is electrically connected to the motor and the control system.

[0013] According to the present invention, a bipedal robot that realizes operation dimension conversion based on a single motor is provided, and the motor is a brushless DC motor, a servo motor, or an inner rotor motor.

[0014] According to a bipedal robot that realizes operation dimension conversion based on a single motor provided by the present invention, the power supply system includes a battery, a solar cell, or a battery pack consisting of a battery and a solar cell.

[0015] The present invention provides a bipedal robot that realizes operation dimension conversion based on a single motor. By being able to drive multiple joints of the entire leg with only one motor structure and multiple stretching parts, the complexity and weight of the mechanical structure are greatly reduced, while energy consumption and heat loss are reduced, and energy utilization efficiency is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the upright state of the robot leg structure provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the gait motion state of the robot leg structure provided by the present invention.

[0019] Figure 3 It is a schematic diagram of the robot hip structure provided by the present invention.

[0020] Figure 4 It is a schematic diagram of the structure of the robot knee joint provided by the present invention.

[0021] Figure 5 It is a schematic diagram of the structure of the robot ankle joint provided by the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] Figure 1-Figure 3The schematic diagram of the structure of a biped robot based on a single motor to realize the running dimension conversion provided by the present invention is shown. The biped robot focuses on executing the gait movement of the robot, so the main improvement of the biped robot lies in the legs of the robot. Figure 1 and Figure 2 The biped robot comprises a robot leg structure 1, a leg pulling assembly 2 and a motor structure 3, wherein: The robot leg structure 1 includes a hip joint axis 11, a thigh 12, a knee joint axis 13, a calf 14, an ankle joint axis 15 and a foot 16; the thigh 12 is connected to the calf 14 through the knee joint axis 13; the calf 14 is connected to the foot 16 through the ankle joint axis 15; and the motor structure is placed in the hip joint axis 11.

[0024] The leg pulling assembly 2 includes a first pulling member 21 and a second pulling member 22; one end of the first pulling member 21 is connected to the motor structure 3, and the other end is connected to the knee joint axis 13; one end of the second pulling member 22 is connected to the motor structure 3, and the other end is connected to the ankle joint axis 15.

[0025] The rotation of the motor structure 3 causes the first pulling member 21 and the second pulling member 22 to pull together and drive the thigh part 12 and the calf part 14 to produce a linear motion of the robot.

[0026] In this regard, it should be noted that the focus of the bipedal robot is on the bipedal legs, which simulate the structure of human legs. Therefore, the leg structure of the robot includes the hip joint axis, thigh, knee joint axis, calf, ankle joint axis and foot. In the connection of each structural part, the thigh and calf are connected through the knee joint axis; the calf and foot are connected through the ankle joint axis. The thigh and hip joint axis are also linked, that is, one end of the thigh rotates around the hip joint axis.

[0027] The bipedal robot of the present invention is designed to drive multiple joints of the entire leg through a single motor mechanism, converting the zero-dimensional motion of the motor rotation into the multi-dimensional motion of the bipedal robot, such as walking or running of the bipedal robot, which can reduce the complexity and weight of the mechanical structure, while reducing energy consumption and heat loss, and improving energy utilization efficiency.

[0028] Therefore, the present invention sets a motor structure in the hip joint axis. The motor structure is used to drive multiple joints of the entire leg. For the motor structure to drive multiple joints of the entire leg, the present invention needs to stretch the leg so that the leg can move on each joint axis.

[0029] In this regard, the leg pulling assembly includes a first pulling member and a second pulling member; one end of the first pulling member is connected to the motor structure, and the other end is connected to the knee joint axis; one end of the second pulling member is connected to the motor structure, and the other end is connected to the ankle joint axis.

[0030] The rotation of the motor structure causes the first pulling member and the second pulling member to pull together to drive the thigh and the calf to produce a linear motion of the robot.

[0031] In the present invention, when the biped robot is in a standing state, the hip joint axis, the thigh, the knee joint axis, the calf, see Figure 1 , the ankle joint axis and the foot can be considered to be in a vertical line.

[0032] See also Figure 1 , when the legs of the biped robot are in an upright state, the first pulling member and the second pulling member are in an initial state. Figure 2 When the motor structure rotates, the force causes the first pulling member and the second pulling member to undergo elastic deformation, thereby generating a certain pulling force on the knee joint axis and the ankle joint axis, causing the knee joint axis and the ankle joint axis to move upward, driving the movement of the thigh, calf and foot. The robot steps forward, and the motor structure rotates continuously. The force generated enables the robot to step forward continuously, achieving continuous movement.

[0033] For further information, see Figure 3 The motor structure 3 includes a motor 31 and an eccentric wheel 32 fixed on the rotating shaft of the motor. The hip joint shaft is a cylindrical tube. The motor is placed inside the hip joint shaft. The eccentric wheel is located at the end of the hip joint shaft. Since an eccentric wheel is configured, a first fixing portion 33 is provided on the outer surface of the eccentric wheel in order to achieve the rotation effect of the eccentric wheel. The position of the first fixing portion 33 is biased to the center position of the outer surface of the eccentric wheel 32.

[0034] A second fixing portion is provided at the center position of the outer surface of the knee joint axis. A third fixing portion is provided at the center position of the outer surface of the ankle joint axis. One end of the first pulling member is fixed to the first fixing portion, and the other end is fixed to the second fixing portion. One end of the second pulling member is fixed to the first fixing portion, and the other end is fixed to the third fixing portion.

[0035] In the present invention, the leg stretching assembly can undergo reasonable elastic deformation. Therefore, the force output by the eccentric wheel causes the first stretching member and the second stretching member to undergo different degrees of deformation, generating different forces on the knee joint axis and the ankle joint axis, thereby generating a forward gait movement behavior.

[0036] In the present invention, the first stretching member and the second stretching member are selected from a flexible elastic body, which is a long string-shaped object made of a flexible elastic material. The flexible elastic material can be one of polyurethane rubber, silicone rubber, and thermoplastic elastomer, but is not limited thereto.

[0037] Flexible elastic materials have good elastic deformation ability and can withstand repeated bending and torsional deformation. Flexible elastic materials have high fatigue resistance, avoiding breakage or aging after long-term use. Flexible elastic materials have good heat resistance, moisture resistance, chemical corrosion resistance and other properties, and can adapt to the application of robots in various complex environments. Use flexible elastic materials to connect the motor to various moving parts, while maintaining the compact internal structure and buffering the impact of certain external shocks. At the same time, the driving force required for different components can be adjusted by changing the type of flexible elastic material to achieve complex movements of the robot. At the same time, the flexible material can absorb the angular error and vibration between the motor and the joint.

[0038] In the present invention, the motor is a brushless DC motor, a servo motor or an inner rotor motor.

[0039] In the present invention, the motor 31 is provided with a control system 4. The control system can accurately control the motor's speed, torque, position and other parameters, so that the motor and the eccentric wheel can generate forces of different magnitudes and frequencies on the stretching member, and further generate forces of different magnitudes and frequencies on the knee joint axis and the ankle joint axis, so that the robot presents a variety of motion modes, and the motion modes can be accurately controlled by the control system.

[0040] The control system has a fast response speed, can quickly track the target instructions, and realize flexible control and high-speed movement of the robot. At the same time, the control system has good stability and sufficient anti-interference ability, and can accurately and quickly control the movement of the robot under various extreme conditions. The control system can remotely control the motor signal.

[0041] In the present invention, a power system 5 is embedded in the thigh 12, and the power system 5 is electrically connected to the motor 31 to supply power to the motor. When the control system 4 is also placed inside the thigh 12, the power system 5 can also be electrically connected to the control system 4 to supply power to the control system.

[0042] The power system is well integrated with the thigh and can provide power to the motor stably for a long time. The power system can be a solar cell, a storage battery, or a battery pack composed of a solar cell and a storage battery. The power system can be connected to the motor through two wires, and the wires can also be well integrated with the thigh.

[0043] In the present invention, see Figure 4 A first limiting portion 121 is provided at the end of the thigh 12 near the knee joint axis 13, and a second limiting portion 141 is provided at the end of the calf 14 near the knee joint axis 13. The first limiting portion 121 and the second limiting portion 141 work together to allow the calf to rotate around the knee joint axis to the maximum extent parallel to the thigh.

[0044] In view of the above content, it should be noted that the bottom of the thigh and the top of the calf are respectively equipped with limiting parts, and the shape of the limiting parts is a quarter of a cylinder. When the calf rotates forward, it can rotate to be parallel to the thigh at most, which prevents the occurrence of hyperextension of the knee and ensures the stability of the robot during movement. It can rotate backward to fit with the thigh, reducing the space occupied by the robot when it is idle. The design of the first limiting part and the second limiting part makes the robot's knee joint structure more similar to the human knee joint. The two limiting parts play the role of the human patella, preventing the occurrence of excessive rotation and protecting the robot's knee joint axis.

[0045] In the present invention, see Figure 5 The end of the calf 14 near the ankle joint axis is provided with a third limiting portion 142 in both the forward and backward directions. The third limiting portion and the foot work together to form an acute angle range of 60-89 degrees with the horizontal plane when the calf is tilted forward and when it is tilted backward. In order to better realize the gait movement of the robot, the foot includes a foot plate 161 and a foot platform 162 for fixing the ankle joint axis. The foot platform is provided with a fourth limiting portion in both the forward and backward directions. Accordingly, the third limiting portion and the fourth limiting portion work together to form an acute angle range of 60-89 degrees with the horizontal plane when the calf is tilted forward and when it is tilted backward.

[0046] In view of the above content, it should be noted that the bottom of the calf and the top of the foot are respectively equipped with limit parts. The limit parts at the front and rear ends of the bottom of the calf are both in the shape of one-sixth of a cylinder, and the top limiter of the foot is a flat baffle. The robot foot can rotate within a certain limit, and the minimum angle between the upper plane of the front foot and the calf is 60 degrees, and the maximum angle is 120 degrees. The design of the two limit parts makes the robot ankle joint structure more similar to the human ankle joint, ensuring the stability of the robot ankle joint structure during movement.

[0047] The bipedal robot provided by the present invention realizes operation dimension conversion based on a single motor and can drive multiple joints of the entire leg with only one motor structure, which greatly reduces the complexity and weight of the mechanical structure, while reducing energy consumption and heat loss and improving energy utilization efficiency.

[0048] The present invention converts the zero-dimensional motion of the motor rotation into the multi-dimensional motion of the biped robot, such as the walking or running motion of the biped robot.

[0049] Using a single motor drive can provide faster dynamic response capabilities, which is conducive to more flexible and agile motion control; it can provide greater output torque, which is conducive to improving the robot's load capacity and work efficiency.

[0050] The present invention drives multiple moving parts of the robot through a motor structure. When the robot moves, the various moving parts will produce a certain interaction, which is more similar to the muscle tissue of a living body. It is used to develop bionic aircraft or bionic underwater robots, and can also achieve conversion of multi-dimensional motion through the rotation of soft elastic materials and motors.

[0051] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A bipedal robot that realizes running dimension conversion based on a single motor, characterized in that: It includes a robot leg structure, a leg pulling component and a motor structure, wherein: The robot leg structure includes a hip joint axis, a thigh, a knee joint axis, a calf, an ankle joint axis and a foot; the thigh is connected to the calf through a knee joint axis; the calf is connected to the foot through an ankle joint axis; the motor structure is placed in the hip joint axis; The leg pulling assembly comprises a first pulling member and a second pulling member; one end of the first pulling member is connected to the motor structure, and the other end is connected to the knee joint axis; one end of the second pulling member is connected to the motor structure, and the other end is connected to the ankle joint axis; The rotation of the motor structure causes the first pulling member and the second pulling member to pull together to drive the thigh and the calf to produce a linear motion of the robot.

2. The bipedal robot for realizing operation dimension conversion based on a single motor according to claim 1, characterized in that: The motor structure includes a motor and an eccentric wheel fixed on the rotating shaft of the motor, a first fixing portion is arranged on the outer surface of the eccentric wheel, and the first fixing portion is offset from the center position of the outer surface of the eccentric wheel; a second fixing portion is arranged at the center position of the outer surface of the knee joint axis; a third fixing portion is arranged at the center position of the outer surface of the ankle joint axis; one end of the first pulling member is fixed to the first fixing portion, and the other end is fixed to the second fixing portion; one end of the second pulling member is fixed to the first fixing portion, and the other end is fixed to the third fixing portion.

3. The bipedal robot for realizing operation dimension conversion based on a single motor according to claim 1 or 2, characterized in that: The first stretching member and the second stretching member are made of flexible elastic wire.

4. The biped robot for realizing operation dimension conversion based on a single motor according to claim 3, characterized in that: The electric machine has a control system.

5. The biped robot for realizing operation dimension conversion based on a single motor according to claim 4, characterized in that: A first limiting portion is provided at the end of the thigh near the knee joint axis, and a second limiting portion is provided at the end of the calf near the knee joint axis; the first limiting portion and the second limiting portion work together to enable the calf to rotate maximally around the knee joint axis to be parallel to the thigh.

6. The biped robot for realizing operation dimension conversion based on a single motor according to claim 5, characterized in that: The end of the calf close to the ankle joint axis is provided with a third limiting portion in the forward and backward directions. The third limiting portion and the foot work together to ensure that the acute angle formed by the calf with the horizontal plane when it is tilted forward and backward is in the range of 60-89 degrees.

7. The biped robot for realizing operation dimension conversion based on a single motor according to claim 6, characterized in that: The foot includes a foot plate and a foot platform for fixing the ankle joint axis, and the foot platform is provided with a fourth limiting portion in the forward and backward directions. Accordingly, the third limiting portion and the fourth limiting portion work together to form an acute angle range of 60-89 degrees with the horizontal plane when the calf is tilted forward and backward respectively.

8. The biped robot for realizing operation dimension conversion based on a single motor according to claim 7, characterized in that: The thigh part is embedded with a power supply system, and the power supply system is electrically connected to the motor and the control system.

9. The biped robot for realizing operation dimension conversion based on a single motor according to claim 8, characterized in that: The motor is a brushless DC motor, a servo motor or an inner rotor motor.

10. The biped robot for realizing operation dimension conversion based on a single motor according to claim 9, characterized in that: The power supply system includes a storage battery, a solar cell, or a battery pack consisting of a storage battery and a solar cell.

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