Humanoid robot capable of standing with straight leg and starting with straight leg

Abstract

The humanoid robot comprises a trunk assembly, a thigh assembly, a shank assembly and a foot assembly, the trunk assembly and the thigh assembly are rotatably connected through a hip joint assembly, and the thigh assembly and the shank assembly are rotatably connected through a knee joint assembly. The shank assembly is rotatably connected with the foot assembly through the ankle joint assembly, the thigh assembly and the shank assembly respectively comprise a thigh skeleton and a shank skeleton, and when the thigh skeleton and the shank skeleton are straightened, the pitching rotation axis of the hip joint assembly and the pitching rotation axis of the knee joint assembly are not on the same vertical plane; the pitching rotation axis of the knee joint assembly and the pitching rotation axis of the ankle joint assembly are located on the same vertical plane, it is guaranteed that the transmission angle between the thigh assembly and the shank assembly of the robot is not 0 degree, the degree of freedom in the vertical direction cannot be lost, straight-leg standing and straight-leg starting of the robot are achieved, and the robot is closer to a real person in shape.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a humanoid robot capable of standing and starting with straight legs. Background Art

[0002] A humanoid robot is a robot designed to imitate the human appearance. It can realize functions such as standing, walking, turning, and jumping through the transmission between various components. When the humanoid robot in the prior art is upright, that is, when the thigh and calf of the robot are straight, the transmission angle between the thigh and the calf is 0°, which leads to the loss of freedom in the vertical direction. Some joints will cause the instantaneous speed to be infinite in order to try to reach the specified direction. At this time, there is no inverse of the Jacobian matrix, making the movement of the robot uncontrollable. Therefore, the humanoid robots in the prior art all adopt the method of standing and starting with bent legs, which is not close enough to the real person form. Humanoid robots integrate multiple disciplines such as machinery, electricity, materials, computers, and control technology. It is an important symbol of a country's high-tech strength and development level. How to make the movements of humanoid robots more realistic has always been a hot topic of current research. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a humanoid robot that can stand and start with straight legs, so that the humanoid robot is closer to a real person.

[0004] To solve the above problems, the technical solution adopted by the present invention is as follows: A humanoid robot capable of standing and starting with straight legs, comprising a trunk component, a thigh component, a calf component and a foot component, the trunk component and the thigh component are rotatably connected via a hip joint component, the thigh component and the calf component are rotatably connected via a knee joint component, the calf component and the foot component are rotatably connected via an ankle joint component, the thigh component and the calf component respectively comprise a thigh skeleton and a calf skeleton, when the thigh skeleton and the calf skeleton are both straightened, the rotation axis of the hip joint component and the rotation axis of the knee joint component are not on the same vertical plane, and the rotation axis of the knee joint component and the rotation axis of the ankle joint component are on the same vertical plane.

[0005] Compared with the prior art, the beneficial effect of the present invention is that when the thigh skeleton and the calf skeleton of the humanoid robot are both straightened, the rotation axis of the pitch of the hip joint component and the rotation axis of the pitch of the knee joint component are not in the same vertical plane, while the rotation axis of the pitch of the knee joint component and the rotation axis of the pitch of the ankle joint component are in the same vertical plane, which ensures that the transmission angle between the thigh component and the calf component of the robot is not 0°, and does not cause the loss of freedom in the vertical direction. While ensuring that the movement of the robot is normal and controllable, the robot can stand and start with straight legs, making the robot closer to a real person, which is of great significance to the research on humanoid robots.

[0006] The above-mentioned humanoid robot capable of standing and starting with straight legs, when the thigh skeleton and the calf skeleton are both straightened, the first side of the thigh skeleton and the first side of the calf skeleton both extend in the vertical direction, and the second side of the thigh skeleton extends obliquely from top to bottom toward the first side of the thigh skeleton, and the second side of the calf skeleton extends obliquely from top to bottom toward the first side of the calf skeleton.

[0007] For the above-mentioned humanoid robot capable of standing and starting with straight legs, the angle between the first side and the second side of the thigh skeleton is 7°, and the angle between the first side and the second side of the calf skeleton is 2°.

[0008] The above-mentioned humanoid robot capable of standing and starting with straight legs also includes a walking leg-foot assembly and a jumping leg-foot assembly, and the walking leg-foot assembly and the jumping leg-foot assembly are replaceably connected between the calf assembly and the foot assembly; the walking leg-foot assembly includes a walking push rod motor and a telescopic rod, the upper end of the walking push rod motor is rotatably connected to the calf frame, the upper end of the telescopic rod is fixedly connected to the output end of the walking push rod motor, and the lower end of the telescopic rod is rotatably connected to the foot assembly; the jumping leg-foot assembly includes a jumping push rod motor, an upper abutment block, a spring and a lower abutment block, the upper end of the jumping push rod motor is rotatably connected to the calf frame, the upper abutment block is fixedly connected to the output end of the jumping push rod motor, and the lower abutment block is rotatably connected to the foot assembly, and the upper and lower ends of the spring respectively abut the upper abutment block and the lower abutment block.

[0009] The above-mentioned humanoid robot capable of standing and starting with straight legs, the foot assembly includes a foot skeleton, the ankle joint assembly includes a first rotating shaft and a second rotating shaft installed on the foot skeleton, the foot skeleton is rotatably connected to the calf skeleton through the first rotating shaft, and the foot skeleton is rotatably connected to the telescopic rod or the lower abutment block through the second rotating shaft.

[0010] The above-mentioned humanoid robot capable of standing and starting with straight legs, the hip joint assembly includes an upper hip bracket, a lower hip bracket, a hip joint rolling motor, a hip joint yaw motor and a hip joint pitch motor; the hip joint rolling motor is installed on the torso assembly, and the output end of the hip joint rolling motor is fixedly connected to the upper hip bracket, the hip joint yaw motor is installed on the upper hip bracket, and the output end of the hip joint yaw motor is fixedly connected to the lower hip bracket, the hip joint pitch motor is installed on the lower hip bracket, and the output end of the hip joint pitch motor is fixedly connected to the thigh skeleton. ; The hip joint rolling motor can drive the thigh assembly, the calf assembly and the foot assembly to rotate around the X-axis relative to the torso assembly to realize the striding action of the humanoid robot; the hip joint yaw motor can drive the thigh assembly, the calf assembly and the foot assembly to rotate around the Z-axis relative to the torso assembly to realize the turning action of the humanoid robot; the hip joint pitch motor can drive the thigh assembly, the calf assembly and the foot assembly to rotate around the Y-axis relative to the torso assembly to realize the leg lifting and lowering action of the humanoid robot.

[0011] The above-mentioned humanoid robot capable of standing and starting with straight legs, the knee joint assembly includes a knee joint pitch motor, a synchronous belt, a driving pulley and a driven pulley, the knee joint pitch motor is installed on the thigh frame, the driving pulley is fixedly connected to the output end of the knee joint pitch motor, the thigh frame and the calf frame are rotatably connected through a third rotating shaft, the driven pulley is fixedly sleeved on the third rotating shaft, and the two ends of the synchronous belt are respectively meshed and connected to the driving pulley and the driven pulley.

[0012] The above-mentioned humanoid robot capable of standing and starting with straight legs, the torso component includes an abdominal body, a hardware support plate is provided inside the abdominal body, and a plurality of counterweight blocks are detachably installed on the hardware support plate along the circumferential direction.

[0013] The above-mentioned humanoid robot capable of standing and starting with straight legs, the thigh frame and the calf frame are both U-shaped frames, and a plurality of reinforcements are fixedly installed inside the U-shaped frames, and the plurality of reinforcements extend along the length direction of the thigh frame and the calf frame.

[0014] The above-mentioned humanoid robot capable of standing and starting with straight legs has a saddle seat installed at the wiring position of the humanoid robot, and the saddle seat is used to fix the wiring.

[0015] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1A front axial view of a partial structure of a humanoid robot according to an embodiment of the present invention (hiding structures such as upper limbs and head);

[0017] Figure 2 for Figure 1 a side view of the structure shown;

[0018] Figure 3 is a schematic structural diagram of a foot assembly according to an embodiment of the present invention;

[0019] Figure 4 for Figure 3 The structure shown is a schematic diagram of the structure from an upward angle after the rubber sole is hidden;

[0020] Figure 5 A diagram showing the coordination relationship between the calf assembly, the thigh assembly and the walking leg and foot assembly according to an embodiment of the present invention;

[0021] Figure 6 A diagram showing the coordination relationship between a calf assembly, a thigh assembly and a jumping leg and foot assembly according to an embodiment of the present invention;

[0022] Figure 7 A rear axle view of a partial structure of a humanoid robot according to an embodiment of the present invention;

[0023] Figure 8 A rear view of a thigh assembly according to an embodiment of the present invention;

[0024] Fig. 9 A diagram showing the matching relationship between an upper hip support and a lower hip support according to an embodiment of the present invention;

[0025] Fig.10 A side view of a thigh skeleton according to an embodiment of the present invention;

[0026] Fig.11 It is a partial structural schematic diagram of a trunk assembly according to an embodiment of the present invention;

[0027] Fig.12 for Fig.11 The structure shown hides a schematic of the structure behind one of the fiberboards.

[0028] Description of Figure Numbers:

[0029] 100 torso assembly, 110 abdominal body, 111 fiberboard, 112 connecting rod, 120 hardware support plate, 121 upper plate, 122 lower plate, 130 counterweight, 140 battery, 150 inertial sensor, 160 upper computer, 170 lower computer, 180 angle code;

[0030] 200 thigh components, 210 thigh skeleton;

[0031] 300 calf assembly, 310 calf frame;

[0032] 400 foot component, 410 foot frame, 411 sensor mounting compartment, 412 pressure sensor, 420 rubber sole, 430 first flange bearing, 440 first self-locking nut, 450 first sleeve, 460 second flange bearing;

[0033] 500 hip joint assembly, 510 upper hip bracket, 520 lower hip bracket, 530 hip joint roll motor, 540 hip joint yaw motor, 550 hip joint pitch motor;

[0034] 600 knee joint assembly, 610 knee joint pitch motor, 620 synchronous belt, 630 driving pulley, 640 driven pulley, 650 third rotating shaft, 660 tensioning pulley, 670 fixing frame;

[0035] 700 ankle joint assembly, 710 first rotating shaft, 720 second rotating shaft, 730 first ball bearing, 740 second self-locking nut, 750 pin, 760 second sleeve, 770 second ball bearing, 780 R-type pin;

[0036] 800 walking leg and foot assembly, 810 walking push rod motor, 820 telescopic rod;

[0037] 900 jumping leg and foot assembly, 910 jumping push rod motor, 920 upper abutment block, 930 spring, 940 lower abutment block;

[0038] 1000 reinforcements, 2000 saddle seats. DETAILED DESCRIPTION

[0039] The embodiments of the present invention are described in detail below. Figure 1 and Figure 2The embodiment of the present invention provides a humanoid robot capable of standing and starting with straight legs, comprising a trunk component 100, a thigh component 200, a calf component 300 and a foot component 400, wherein the trunk component 100 and the thigh component 200 are rotatably connected via a hip joint component 500, the thigh component 200 and the calf component 300 are rotatably connected via a knee joint component 600, the calf component 300 and the foot component 400 are rotatably connected via an ankle joint component 700, the thigh component 200 and the calf component 300 respectively comprise a thigh skeleton 210 and a calf skeleton 310, when the thigh skeleton When the thigh skeleton 210 and the calf skeleton 310 are both straightened, the pitch axis of rotation of the hip joint component 500 and the pitch axis of rotation of the knee joint component 600 are not on the same vertical plane, and the pitch axis of rotation of the knee joint component 600 and the pitch axis of rotation of the ankle joint component 700 are on the same vertical plane, which ensures that the transmission angle between the thigh component 200 and the calf component 300 of the robot is not 0°, and does not cause the loss of freedom in the vertical direction. While ensuring that the movement of the robot is normal and controllable, the robot can stand and start with straight legs, making the robot closer to a real person, which is of great significance to the research on humanoid robots.

[0040] Further, refer to Figure 2The thigh frame 210 and the calf frame 310 are both designed with aluminum alloy sheet metal. When the thigh frame 210 and the calf frame 310 are straightened, the first side of the thigh frame 210 and the first side of the calf frame 310 both extend in the vertical direction, and the second side of the thigh frame 210 extends obliquely from top to bottom toward the first side of the thigh frame 210, and the second side of the calf frame 310 extends obliquely from top to bottom toward the first side of the calf frame 310, so that the rotation axis of the pitch of the hip joint component 500 and the rotation axis of the pitch of the knee joint component 600 are not on the same vertical plane, and the rotation axis of the pitch of the knee joint component 600 and the rotation axis of the pitch of the ankle joint component 700 are on the same vertical plane, ensuring that the transmission angle between the thigh component 200 and the calf component 300 of the robot is not 0°. The thigh frame 210 and the shank frame 310 are designed in an inverted triangle shape, which can reduce the moment of inertia of the thigh frame 210 and the shank frame 310, thereby reducing the required torque of the driving parts in the hip joint component 500 and the knee joint component 600. Furthermore, when the thigh frame 210 and the shank frame 310 are both straightened, the angle between the first side and the second side of the thigh frame 210 is 7°, the angle between the first side and the second side of the shank frame 310 is 2°, the angle between the line between the rotation axis of the knee joint component 600 pitching and the rotation axis of the ankle joint component 700 pitching and the vertical direction is 0°, and the angle between the line between the rotation axis of the hip joint component 500 pitching and the rotation axis of the knee joint component 600 pitching and the vertical direction is 2.3°, that is, the transmission angle between the thigh frame 210 and the shank frame 310 is 2.3°, not 0°, realizing the straight-leg standing and straight-leg starting of the robot. Among them, the first side and the second side of the thigh skeleton 210 are arranged opposite to each other, the first side and the second side of the calf skeleton 310 are arranged opposite to each other, and the first side of the thigh skeleton 210 and the first side of the calf skeleton 310 are located on the same side.

[0041] Further, refer to Figure 2 and Figure 3The foot component 400 includes a foot skeleton 410, and the ankle joint component 700 includes a first rotating shaft 710 and a second rotating shaft 720 installed on the foot skeleton 410, and also includes an ankle joint pitch driving member (walking push rod motor 810 or jumping push rod motor 910), the first rotating shaft 710 is installed in the middle of the foot skeleton 410, the foot skeleton 410 is rotatably connected to the lower end of the shank skeleton 310 through the first rotating shaft 710, the upper end of the ankle joint pitch driving member is rotatably connected to the shank skeleton 310, and the output end of the ankle joint pitch driving member is rotatably connected to the second rotating shaft 720, and the output end of the ankle joint pitch driving member can be directly connected to the second rotating shaft 720, or indirectly connected to the second rotating shaft 720 through other structures. When the output end of the ankle joint pitch driving member telescopically moves, it can drive the foot skeleton 410 to move around the first rotating shaft 710 relative to the shank skeleton 310, thereby realizing the lifting and placing of the foot. Furthermore, the foot assembly 400 also includes a rubber sole 420 sleeved on the outer periphery of the foot frame 410, which can increase the friction between the robot's feet and the ground, making it easier for the robot to stand firmly, and can also reduce the impact when the robot's feet touch the ground, reduce the contact stress between the soles of the feet and the ground, and increase the rigidity and running stability of the robot. Figure 4 A sensor installation compartment 411 is provided at the bottom of the foot skeleton 410, and a pressure sensor 412 is arranged in the sensor installation compartment 411. The pressure sensor 412 is evenly arranged at the bottom of the foot skeleton 410, which can ensure good fixation and sensing accuracy of the pressure sensor 412, so that the robot can accurately receive the signal of the foot contacting the ground, which is beneficial to the gait planning of the robot and reduces the ground impact on the robot. Specifically, the pressure sensor 412 can be installed in the sensor installation compartment 411 by gluing.

[0042] Further, continue to refer to Figure 3 and Figure 4The foot frame 410 is wavy and made of 6061 aluminum alloy. A first screw is inserted in the middle of the foot frame 410, and the first screw serves as the first rotating shaft 710. The lower end of the calf frame 310 is rotatably connected to the first screw through the first flange bearing 430. The tail of the first screw is connected to the first self-locking nut 440. The first screw, the first flange bearing 430, the calf frame 310 and the first self-locking nut 440 are used to complete the coordination between the robot foot and the calf. The rear part of the foot frame 410 is provided with a second screw, which serves as the second rotating shaft 720. The second screw is connected to the foot frame 410 through the first sleeve 450 and the second flange bearing 460. The output end of the ankle pitch drive (walking push rod motor 810 or jumping push rod motor 910) is connected to the second rotating shaft 720 through the first ball bearing 730. The tail of the second screw is connected with the second self-locking nut 740. The robot foot and the ankle pitch motor are matched by the second screw, the second flange bearing 460, the first sleeve 450, the first ball bearing 730 and the second self-locking nut 740. Specifically, the robot foot frame 410, the first screw and the second screw are made of 6061 aluminum alloy, the first self-locking nut 440 and the second self-locking nut 740 are made of 304 stainless steel, the first sleeve 450 is made of light-cured resin, and the rubber sole 420 is made of rubber with a hardness of 50°.

[0043] Further, refer to Figure 5 and Figure 6 According to the two functions of walking and jumping, the robot is designed with walking leg and foot components 800 and jumping leg and foot components 900 respectively. The walking leg and foot components 800 and jumping leg and foot components 900 can be installed interchangeably between the calf skeleton 310 and the foot skeleton 410, so that the robot can switch between walking and jumping, which is convenient for the study of the robot's control algorithm and enables the walking and jumping control algorithms to be arranged on the same robot. Figure 5 The walking leg and foot assembly 800 includes a walking push rod motor 810 and a telescopic rod 820. The upper end of the walking push rod motor 810 is rotatably connected to the calf frame 310. The upper end of the telescopic rod 820 is fixedly connected to the output end of the walking push rod motor 810 and can be telescopically moved on the driving member of the walking push rod motor 810. The lower end of the telescopic rod 820 is rotatably connected to the second rotating shaft 720. When the telescopic rod 820 is telescopically moved under the drive of the walking push rod motor 810, it can drive the foot frame 410 to rotate around the first rotating shaft 710 relative to the calf frame 310. Figure 6The jumping leg and foot assembly 900 includes a jumping push rod motor 910, a carbon steel spring 930, an upper abutment block 920 and a lower abutment block 940. The upper end of the jumping push rod motor 910 is rotatably connected to the calf frame 310, the upper abutment block 920 is fixedly connected to the output end of the jumping push rod motor 910, and the lower abutment block 940 is rotatably connected to the second rotating shaft 720. The upper and lower ends of the spring 930 abut against the upper abutment block 920 and the lower abutment block 940 respectively. When the jumping push rod motor 910 pushes the upper abutment block 920 downward, the spring 930 can be compressed to store energy. When the upper abutment block 920 is pushed to the maximum stroke, the energy storage of the spring 930 reaches the maximum. At this time, the upper abutment block 920 quickly returns, and the energy stored in the spring 930 is released, which can drive the robot to jump.

[0044] Further, refer to Figure 7 The calf frame 310 is provided with a pin 750, and the pin 750 is sleeved with a second sleeve 760. The upper end of the walking push rod motor 810 or the jumping push rod motor 910 is connected to the pin 750 through a second ball bearing 770. The tail of the pin 750 is connected with an R-type pin 780. The coordination between the ankle joint pitch motor and the calf frame 310 is completed through the pin 750, the second sleeve 760, the second ball bearing 770 and the R-type pin 780. The calf frame 310 is reinforced and connected with the reinforcement member 1000 on the calf frame 310 by a screw combination, and the screw combination includes a screw, a spring washer and a flat washer. The calf frame 310 and the reinforcement member 1000 are made of 6061 aluminum alloy, the pin 750, the R-type pin 780, the screw, the spring washer and the flat washer are made of 304 stainless steel, and the second sleeve 760 is made of light-curing resin. Specifically, the calf frame 310 is processed using 6061 aluminum alloy sheet metal.

[0045] Further, continue to refer to Figure 7The hip joint assembly 500 includes an upper hip bracket 510, a lower hip bracket 520, a hip joint rolling motor 530, a hip joint yaw motor 540 and a hip joint pitch motor 550; the hip joint rolling motor 530 is mounted on the trunk assembly 100, and the output end of the hip joint rolling motor 530 is fixedly connected to the upper hip bracket 510, the hip joint yaw motor 540 is mounted on the upper hip bracket 510, and the output end of the hip joint yaw motor 540 is fixedly connected to the lower hip bracket 520, the hip joint pitch motor 550 is mounted on the lower hip bracket 520, and the output end of the hip joint pitch motor 550 is fixedly connected to the thigh frame 210. When the hip joint rolling motor 530 rotates, it can drive the upper hip bracket 510 to rotate around the X-axis, and then drive the lower hip bracket 520, the thigh assembly 200, the calf assembly 300 and the foot assembly 400 to rotate around the X-axis relative to the trunk assembly 100, so as to realize the stride action of the humanoid robot. When the hip joint yaw motor 540 rotates, it can drive the lower hip support 520 to rotate relative to the upper hip support 510 around the Z axis, and then drive the thigh assembly 200, the calf assembly 300 and the foot assembly 400 to rotate relative to the trunk assembly 100 around the Z axis to achieve the turning action of the humanoid robot. When the hip joint pitch motor 550 rotates, it can drive the thigh skeleton 210 to rotate relative to the lower hip support 520 around the Y axis, and then drive the thigh assembly 200, the calf assembly 300 and the foot assembly 400 to rotate relative to the trunk assembly 100 around the Y axis to achieve the leg lifting and lowering action of the humanoid robot. Among them, the Y axis is the rotation axis of the pitch of the hip joint assembly 500. The connection between the hip rolling motor 530 and the trunk assembly 100, the connection between the output end of the hip rolling motor 530 and the upper hip support 510, the connection between the hip yaw motor 540 and the upper hip support 510, the connection between the output end of the hip yaw motor 540 and the lower hip support 520, etc., are all connected by a combination of screws, which will not be elaborated here.

[0046] Further, refer to Figure 8The knee joint assembly 600 includes a knee joint pitch motor 610, a synchronous belt 620, a driving pulley 630 and a driven pulley 640. The knee joint pitch motor 610 is installed on the thigh frame 210. The driving pulley 630 is fixedly connected to the output end of the knee joint pitch motor 610. The thigh frame 210 and the calf frame 310 are rotatably connected through a third rotating shaft 650. The driven pulley 640 is fixedly sleeved on the third rotating shaft 650. The two ends of the synchronous belt 620 are respectively meshed and connected to the driving pulley 630 and the driven pulley 640. When the knee joint pitch motor 610 rotates, it can drive the driving pulley 630 to rotate, and then drive the driven pulley 640 and the third rotating shaft 650 to rotate together through the synchronous belt 620. The calf frame 310 is fixedly connected to the third rotating shaft 650. Therefore, when the third rotating shaft 650 rotates, it will drive the calf frame 310 to rotate around the Y axis relative to the thigh frame 210, thereby realizing the action of the robot lifting and lowering the calf. Similarly, the third rotating shaft 650 is also connected to the calf skeleton 310 through the cooperation of flange bearings, plug screws and self-locking nuts. This robot uses a synchronous belt 620 transmission to realize the lifting and lowering action of the calf. Compared with the direct motor drive method, it can not only move the knee joint pitch motor 610 upward, so that the rotational inertia of the robot calf assembly 300 is reduced, the torque required for the knee joint pitch motor 610 is reduced, and the volume and mass at the knee joint are reduced, but also has the advantages of stable operation, low noise, and efficient transmission. It has good buffering capacity for shock and vibration, and increases the impact resistance of the robot knee joint that is susceptible to shock. In this robot, the single leg adopts five degrees of freedom design of hip joint rolling, hip joint yaw, hip joint pitch, knee joint pitch and ankle joint pitch. The ankle joint rolling degree of freedom is replaced by the robot's hip joint rolling degree of freedom, which can reduce the complexity of the humanoid robot, thereby reducing the difficulty of dynamic solution and facilitating the control of the robot. This robot is designed with a modular concept, and the structure of the robot is divided into multiple components, including a torso component 100, a thigh component 200, a calf component 300, a foot component 400, a hip joint component 500, a knee joint component 600, and an ankle joint component 700. The connection between the components is simplified, and the components can be separated by removing one or more screws, which makes it easy to disassemble the robot and replace different functional components. For example, the walking leg and foot component 800 and the jumping leg and foot component 900 can be replaced, which can reduce the difficulty of robot development, maintenance and replacement of parts.

[0047] Further, refer to Figure 7 and Fig. 9The longitudinal section of the upper hip support 510 is U-shaped, and can be connected to the torso component 100 on both sides at the same time to improve the stability of the connection and movement. The longitudinal section of the lower hip support 520 is inverted L-shaped, and the horizontal section is connected to the upper hip support 510, and the vertical section is connected to the thigh frame 210. The knee joint pitch motor 610 is installed on the side of the thigh frame 210 that is not connected to the lower hip support 520, and is at the same height as the hip joint pitch motor 550, so that the overall layout of the robot is more reasonable, the appearance is more symmetrical, and it is close to a human shape. This robot moves the layout positions of the knee pitch motor 610 and the ankle pitch motor upwards, uses the knee pitch motor 610 to drive the rotation of the robot's calf through the synchronous belt 620, and uses the ankle pitch motor to drive the rotation of the robot's foot through the crank slider mechanism, which can reduce the rotational inertia of the thigh component 200 and the calf component 300, thereby reducing the torque required for the hip pitch motor 550 that drives the robot's thigh to rotate and the knee pitch motor 610 that drives the robot's calf to rotate, and reduces the volume and mass of the hip pitch motor 550 and the knee pitch motor 610, thereby reducing the overall mass and cost of the robot.

[0048] Further, refer to Figure 8 and Fig.10 , a tensioning wheel 660 is installed on the thigh frame 210, and the outer periphery of the tensioning wheel 660 abuts against the belt surface of the synchronous belt 620 to adjust the preload force of the synchronous belt 620. Further, the tensioning wheel 660 is detachably installed on the thigh frame 210, and the smooth tensioning wheel and the toothed tensioning wheel can be interchanged, which is suitable for two different occasions of forward and reverse rotation of the synchronous belt 620. Further, the tensioning wheel 660 is installed on the thigh frame 210 through a fixing frame 670, and the fixing frame 670 is slidably connected to the thigh frame 210 to drive the tensioning wheel 660 to move toward the synchronous belt 620 or away from the synchronous belt 620 to adjust the pressure of the tensioning wheel 660 against the synchronous belt 620, thereby adjusting the preload force of the synchronous belt 620. After the fixing frame 670 moves to the target position, it can be locked with a screw or other structure. When the position of the tensioning wheel 660 needs to be adjusted, the fixing frame 670 can be moved by loosening the screw or other structure again.

[0049] Further, refer to Fig.11 and Fig.12The trunk assembly 100 includes an abdominal body 110, which includes two fiberboards 111 arranged opposite to each other. The two fiberboards 111 are fixedly connected by a connecting rod 112. The fiberboards 111 are made of carbon fiber material, and the connecting rod 112 is made of 3030 aluminum profile. A hardware support plate 120 is provided inside the abdominal body 110. The hardware support plate 120 includes an upper plate 121 and a lower plate 122. The upper plate 121 is used to place structures such as a battery 140 and an inertial sensor 150, and the lower plate 122 is used to place structures such as an upper computer 160 and a lower computer 170. The upper plate 121 and the fiberboard 111 are reinforced and connected by an angle code 180, and the lower plate 122 and the fiberboard 111 are also reinforced and connected by an angle code 180. The hardware support plate 120 is detachably mounted with a plurality of counterweights 130 along the circumferential direction. Specifically, there are four counterweights 130, which are arranged around the upper plate 121. When the center of mass of the robot is not on the plane of the symmetry axis, the position and / or mass of the counterweights 130 on both sides can be used to adjust the center of mass of the robot back to the plane of the symmetry axis, thereby improving the stability of the robot during movement. Furthermore, the counterweights 130 are made of gray cast iron and processed with a black paint process to achieve a rust-proof effect.

[0050] Further, refer to Figure 7 and Figure 8 The thigh frame 210 and the calf frame 310 are both U-shaped frames. The design of the U-shaped frame can facilitate the installation of various components inside the frame, reasonably utilize the internal space of the robot, reduce the overall shape and volume of the robot, and facilitate internal wiring to hide the wiring, which can not only protect the wiring, but also make the robot more beautiful. In order to increase the structural strength of the thigh frame 210 and the calf frame 310, a plurality of reinforcement members 1000 are fixedly installed at the U-shaped opening of the U-shaped frame, and the plurality of reinforcement members 1000 extend along the length direction of the thigh frame 210 and the calf frame 310. Further, a saddle seat 2000 is installed at the wiring position of the humanoid robot, for example, inside the thigh frame 210 and the calf frame 310, inside the abdominal body 110, and on the upper hip bracket 510, the lower hip bracket 520 and the hardware support plate 120. When wiring, the wiring of each electrical component can be tied to the saddle seat 2000 with a cable tie to provide support for the wiring and prevent the wiring from moving or sagging during the movement of the robot. Furthermore, the saddle seat 2000 can be installed on the thigh frame 210, the calf frame 310, the abdominal body 110, the upper hip support 510, the lower hip support 520 and the hardware support plate 120 using screws and nuts to facilitate installation and disassembly, thereby improving the convenience of maintenance and replacement.

[0051] Through the above structure, the walking function of this robot is realized as follows:

[0052] When the robot walks, first, the thigh assembly 200, the shank assembly 300 and the foot assembly 400 on one side move, while the thigh assembly 200, the shank assembly 300 and the foot assembly 400 on the other side do not move. When the thigh assembly 200, the shank assembly 300 and the foot assembly 400 on one side move, the hip joint rolling motor 530 first rotates a corresponding angle, which is obtained by the upper computer 160 according to the robot's own posture data obtained by the inertial sensor 150, after being calculated by the neural network, and transmitted to the lower computer 170 through wiring. After receiving the instruction, the lower computer 170 transmits the corresponding rotation angle to the hip joint rolling motor 530. At this time, the hip joint rolling motor 530 rotates a corresponding angle, driving the upper hip bracket 510 to rotate around the X-axis, and then driving the lower hip bracket 520, the thigh assembly 200, the shank assembly 300 and the foot assembly 400 to rotate relative to the trunk assembly 100 around the X-axis, so as to realize the stride action of the humanoid robot. After the hip joint rolling motor 530 moves, the hip joint yaw motor 540 rotates to a corresponding angle, and the angle is still calculated and transmitted by the upper computer 160 and the lower computer 170. When the hip joint yaw motor 540 rotates, it drives the lower hip support 520 to rotate around the Z axis relative to the upper hip support 510, and then drives the thigh component 200, the calf component 300 and the foot component 400 to rotate around the Z axis relative to the trunk component 100 to achieve the turning action of the humanoid robot. After the hip joint yaw motor 540 moves, the hip joint pitch motor 550 rotates to a corresponding angle, and the angle is still calculated and transmitted by the upper computer 160 and the lower computer 170. When the hip joint pitch motor 550 rotates, it drives the thigh skeleton 210 to rotate around the Y axis relative to the lower hip support 520, and then drives the thigh component 200, the calf component 300 and the foot component 400 to rotate around the Y axis relative to the trunk component 100 to achieve the leg lifting and lowering action of the humanoid robot. After the hip joint pitch motor 550 moves, the knee joint pitch motor 610 rotates a corresponding angle, and the angle is still obtained by the above process. When the knee joint pitch motor 610 rotates, it drives the active pulley 630 to drive the synchronous belt 620 to rotate, and the synchronous belt 620 drives the driven pulley 640 to rotate, so that the calf assembly 300 matched with the driven pulley 640 rotates around the Y-axis of the robot center, thereby realizing the robot's calf lifting and lowering action.After the knee joint pitch motor 610 rotates, the ankle joint pitch motor rotates a corresponding angle, and the angle is still obtained by the above process. The ankle joint pitch motor is the above-mentioned walking push rod motor 810. When the ankle joint pitch motor rotates, the planetary ball screw mechanism inside the motor converts the rotational motion into linear motion, pushing the push rod of the motor to extend and retract. Since the ball head bearing on the push rod cooperates with the second rotating shaft 720 of the robot foot, the robot foot can be driven to rotate around the axis of the first rotating shaft 710, that is, around the Y-axis of the center of the robot. The pressure sensor 412 on the sole of the foot can sense whether the robot foot is in contact with the ground. When the robot foot is in contact with the ground, the pressure sensor 412 sends a signal, which is transmitted to the upper computer 160 via the lower computer 170. After receiving the signal, the upper computer 160 will issue an instruction to command the ankle joint pitch motor to stop rotating, thereby realizing the action of lifting and lowering the robot's foot. After the thigh assembly 200, calf assembly 300 and foot assembly 400 on one side complete the movement, they remain still, and the thigh assembly 200, calf assembly 300 and foot assembly 400 on the other side move according to the above process. The thigh assemblies 200, calf assembly 300 and foot assembly 400 on both sides move alternately, thereby realizing the walking process of the robot. The power supply of the entire robot is completed by the 24V battery 140, and the 24V battery 140 is respectively converted by the lower computer 170 to supply power to the inertial sensor 150, the upper computer 160, the lower computer 170, each drive motor and the pressure sensor 412.

[0053] The jumping function of this robot is implemented as follows:

[0054] First, the walking leg and foot assembly 800 of the robot is replaced with the jumping leg and foot assembly 900. When the robot is ready to jump, the legs and feet on both sides are not moved first, and the hip joint rolling motor 530 on one side of the robot rotates the corresponding angle. The angle is obtained by the upper computer 160 according to the robot's own posture data obtained by the inertial sensor 150, calculated by the neural network, and transmitted to the lower computer 170 through wiring. After receiving the instruction, the lower computer 170 transmits the corresponding rotation angle to the hip joint rolling motor 530. At this time, the hip joint rolling motor 530 rotates the corresponding angle, drives the upper hip bracket 510 to rotate, and then makes the thigh assembly 200 rotate around the X axis of the robot center, and first realizes the robot's stride action. After the hip action is completed, the hip joint yaw motor 540 rotates the corresponding angle, and the rotation angle is still obtained by the above process. At this time, the hip joint yaw motor 540 rotates the corresponding angle, drives the lower hip bracket 520 to rotate, and makes the thigh assembly 200 rotate around the Z axis of the robot center, and then realizes the robot's steering action, ensuring that the robot jumps in the predetermined direction. After the steering action is completed, the hip joint pitch motor 550 rotates a corresponding angle, and the angle is still obtained by the above process. At this time, the hip joint pitch motor 550 rotates a corresponding angle, and the rotation angle is still obtained by the above process. When the knee joint pitch motor 610 rotates a corresponding angle, it drives the active pulley 630 to drive the synchronous belt 620 to rotate, and the synchronous belt 620 drives the driven pulley 640 to rotate, so that the calf assembly 300 coordinated with the driven pulley 640 rotates around the Y-axis direction of the robot center, thereby realizing the robot's calf lifting and lowering action. After the knee joint pitch motor 610 moves, the ankle joint pitch motor rotates a corresponding angle, and the angle is still obtained by the above process. The ankle joint pitch motor is the above-mentioned jumping push rod motor 910. When the jumping push rod motor 910 rotates a corresponding angle, the planetary ball screw mechanism inside the motor converts the rotational motion into linear motion, pushing the upper abutment block 920 downward, thereby compressing the spring 930 to store energy. When the upper abutment block 920 is pushed to reach the maximum stroke, the energy storage of the spring 930 reaches the maximum. At this time, the upper abutment block 920 quickly returns, and the energy storage of the spring 930 is released, which can drive the robot to jump. The pressure sensor 412 on the sole of the foot can sense whether the robot's foot is in contact with the ground. When the robot's foot is in contact with the ground, the pressure sensor 412 sends a signal, which is transmitted to the upper computer 160 via the lower computer 170. After receiving the signal, the upper computer 160 will issue an instruction to command each motor to rotate a corresponding angle, so that the robot can land smoothly and finally complete the robot's jumping action. Similarly, the entire robot is powered by a 24V battery 140, which supplies power to the inertial sensor 150, the upper computer 160, the lower computer 170, each drive motor and the pressure sensor 412 after the voltage is converted by the lower computer 170.

[0055] It should be noted that in the description of the present invention, if there are any orientation descriptions, such as up, down, front, back, left, right, etc., the orientations or positional relationships indicated are all based on the orientations or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed or operated in a specific orientation, and cannot be understood as a limitation on the present invention.

[0056] In the description of the present invention, "several" means one or more, "more" means two or more, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0057] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0058] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A humanoid robot capable of standing and starting with straight legs, characterized in that: The invention comprises a trunk component (100), a thigh component (200), a calf component (300) and a foot component (400), wherein the trunk component (100) and the thigh component (200) are rotatably connected via a hip joint component (500), the thigh component (200) and the calf component (300) are rotatably connected via a knee joint component (600), and the calf component (300) and the foot component (400) are rotatably connected via an ankle joint component (700). The thigh component (200) and the calf component (300) respectively include a thigh frame (210) and a calf frame (310). When the thigh frame (210) and the calf frame (310) are both straightened, the rotation axis of the hip joint component (500) and the rotation axis of the knee joint component (600) are not on the same vertical plane, and the rotation axis of the knee joint component (600) and the rotation axis of the ankle joint component (700) are on the same vertical plane.

2. The humanoid robot capable of standing and starting with straight legs according to claim 1, characterized in that: When the thigh frame (210) and the calf frame (310) are both straightened, the first side of the thigh frame (210) and the first side of the calf frame (310) both extend in a vertical direction, and the second side of the thigh frame (210) extends obliquely from top to bottom toward the first side of the thigh frame (210), and the second side of the calf frame (310) extends obliquely from top to bottom toward the first side of the calf frame (310).

3. The humanoid robot capable of standing and starting with straight legs according to claim 2, characterized in that: The angle between the first side and the second side of the thigh frame (210) is 7°, and the angle between the first side and the second side of the calf frame (310) is 2°.

4. The humanoid robot capable of standing and starting with straight legs according to claim 1, characterized in that: It also includes a walking leg-foot assembly (800) and a jumping leg-foot assembly (900), wherein the walking leg-foot assembly (800) and the jumping leg-foot assembly (900) are replaceably connected between the calf assembly (300) and the foot assembly (400); The walking leg and foot assembly (800) comprises a walking push rod motor (810) and a telescopic rod (820), the upper end of the walking push rod motor (810) is rotatably connected to the calf frame (310), the upper end of the telescopic rod (820) is fixedly connected to the output end of the walking push rod motor (810), and the lower end of the telescopic rod (820) is rotatably connected to the foot assembly (400); The jumping leg and foot assembly (900) includes a jumping push rod motor (910), an upper abutment block (920), a spring (930) and a lower abutment block (940); the upper end of the jumping push rod motor (910) is rotatably connected to the calf frame (310); the upper abutment block (920) is fixedly connected to the output end of the jumping push rod motor (910); the lower abutment block (940) is rotatably connected to the foot assembly (400); and the upper and lower ends of the spring (930) abut against the upper abutment block (920) and the lower abutment block (940) respectively.

5. The humanoid robot capable of standing and starting with straight legs according to claim 4, characterized in that: The foot component (400) includes a foot frame (410), and the ankle joint component (700) includes a first rotating shaft (710) and a second rotating shaft (720) installed on the foot frame (410), the foot frame (410) is rotatably connected to the calf frame (310) via the first rotating shaft (710), and the foot frame (410) is rotatably connected to the telescopic rod (820) / the lower abutment block (940) via the second rotating shaft (720).

6. The humanoid robot capable of standing and starting with straight legs according to claim 1, characterized in that: The hip joint assembly (500) comprises an upper hip support (510), a lower hip support (520), a hip joint rolling motor (530), a hip joint yaw motor (540) and a hip joint pitch motor (550); The hip joint rolling motor (530) is installed on the trunk component (100), and the output end of the hip joint rolling motor (530) is fixedly connected to the upper hip bracket (510); the hip joint yaw motor (540) is installed on the upper hip bracket (510), and the output end of the hip joint yaw motor (540) is fixedly connected to the lower hip bracket (520); the hip joint pitch motor (550) is installed on the lower hip bracket (520), and the output end of the hip joint pitch motor (550) is fixedly connected to the thigh frame (210); The hip joint rolling motor (530) can drive the thigh component (200), the calf component (300) and the foot component (400) to rotate relative to the trunk component (100) around the X-axis, so as to realize the stride action of the humanoid robot; The hip joint yaw motor (540) can drive the thigh component (200), the calf component (300) and the foot component (400) to rotate around the Z axis relative to the trunk component (100) to achieve a turning motion of the humanoid robot; The hip joint pitch motor (550) can drive the thigh component (200), the calf component (300) and the foot component (400) to rotate around the Y axis relative to the torso component (100) to achieve the leg lifting and lowering action of the humanoid robot.

7. The humanoid robot capable of standing and starting with straight legs according to claim 1, characterized in that: The knee joint assembly (600) includes a knee joint pitch motor (610), a synchronous belt (620), a driving pulley (630) and a driven pulley (640); the knee joint pitch motor (610) is installed on the thigh frame (210); the driving pulley (630) is fixedly connected to the output end of the knee joint pitch motor (610); the thigh frame (210) and the calf frame (310) are rotatably connected via a third rotating shaft (650); the driven pulley (640) is fixedly sleeved on the third rotating shaft (650); and the two ends of the synchronous belt (620) are respectively meshed and connected to the driving pulley (630) and the driven pulley (640).

8. The humanoid robot capable of standing and starting with straight legs according to claim 1, characterized in that: The trunk assembly (100) comprises an abdominal body (110), wherein a hardware support plate (120) is arranged inside the abdominal body (110), and a plurality of counterweight blocks (130) are detachably mounted on the hardware support plate (120) along the circumferential direction.

9. The humanoid robot capable of standing and starting with straight legs according to claim 1, characterized in that: The thigh frame (210) and the calf frame (310) are both U-shaped frames, and a plurality of reinforcement members (1000) are fixedly installed inside the U-shaped frames. The plurality of reinforcement members (1000) extend along the length direction of the thigh frame (210) and the calf frame (310).

10. The humanoid robot capable of standing and starting with straight legs according to claim 1, characterized in that: A saddle seat (2000) is installed at the wiring position of the humanoid robot, and the saddle seat (2000) is used to fix the wiring.

Images