Automatically-controlled two-foot walking robot
By adopting swing link and multi-link structures in bipedal walking robots, combined with technologies such as double-headed drive motors and buffer pads, the existing bipedal walking robots have been solved, and the problems of slow movement, poor coordination and insufficient grip are achieved, which has achieved fast, stable and stable walking, reducing safety risks.
Patent Information
- Application Number
- CN202411796467.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-09
- Publication Date
- 2025-03-18
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing bipedal walking robots move slowly when moving, have low coordination when walking, and have poor grip when walking, and are prone to fall to one side after being stressed while walking, which poses a safety risk.
An automated control of two-leg walking robot is designed, adopting a swing link and a multi-link structure. The double-headed drive motor drives the rotating plate to rotate, and drives the swing link and link to swing and rotate at a certain angle, simulating the movement of human legs and increasing the stability and speed of walking. At the same time, cushioning pads and multiple anti-slip pads are used to simulate the movement of the human soles and heels, enhancing grip and stability.
The rapid, stable and stable progress of the bipedal walking robot is achieved, which enhances the coordination and grip of walking, reduces the risk of dumping, and improves safety.
Smart Images
Figure CN119636949A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the field of robot equipment, in particular to an automatically controlled biped walking robot. Background Art
[0002] A robot that simulates human walking on two legs. Bipedal walking robots are suitable for walking on uneven or obstructed ground. They are more flexible and maneuverable than general mobile robots. The bipedal walking model is a variable structure mechanism. The single-leg support is an open chain, and the double-leg support is a closed chain. The fixation of the support point is guaranteed by friction. The mass distribution and weight directly affect the static and dynamic stability. In order to ensure the stability of the posture during walking, the walking gait should be more strictly constrained.
[0003] Existing bipedal walking robots move slowly when moving, have low coordination between the two legs, and have weak grip. They can easily fall to one side after being subjected to force while walking, which poses certain safety risks. Therefore, an automatically controlled bipedal walking robot is needed. Summary of the invention
[0004] The purpose of the present application is to provide an automatically controlled bipedal walking robot to solve the problem mentioned in the above background technology that the existing bipedal walking robots are slow in movement and walking, the coordination between the two legs is not high, and the grip is not strong. It is easy to fall to one side after being stressed when walking, which poses certain safety risks.
[0005] To achieve the above-mentioned purpose, the present application provides the following technical solutions: an automatically controlled biped walking robot, comprising a main body, a head recognition device is fixedly connected to the upper surface of the main body, movable arms are installed on both sides of the main body, a central balancing device is installed on the lower surface of the main body, a pair of support plates are fixedly connected to the lower surface of the central balancing device, and a walking gripping mechanism is fixedly connected to the inner wall of the support plate;
[0006] The walking gripping mechanism includes a mounting shaft fixedly connected to the inner wall of a support plate, the inner wall of the mounting shaft is fixedly connected to a fixed arc plate, a pair of opposite surfaces of the fixed arc plates are fixedly connected to the same double-headed drive motor, the output end of the double-headed drive motor passes through one side of the fixed arc plate and is fixedly connected to a rotating plate, and a plurality of first lightweight holes are opened on the surface of the rotating plate.
[0007] Preferably, the walking gripping mechanism further comprises a swing link rotatably connected to the surface of the rotating plate, a second lightweight hole is opened on the surface of the swing link, and a first link is rotatably connected to the surface of the mounting shaft.
[0008] Preferably, one side of the first connecting rod is rotatably connected to the inner wall of the swing connecting rod, the surface of the mounting shaft is rotatably connected to the upper connecting rod, and the inner wall of the upper connecting rod is rotatably connected to the second connecting rod.
[0009] Preferably, a rotating shaft is fixedly connected to the inner wall of the second connecting rod, a surface of the rotating shaft is rotationally connected to the inner wall of the swing connecting rod, and a moving leg is fixedly connected to the surface of the rotating shaft.
[0010] Preferably, the bottom end of the moving leg is fixedly connected to a load-bearing plate, the lower surface of the load-bearing plate is fixedly connected to a buffer rubber pad, the lower surface of the buffer rubber pad is fixedly connected to multiple anti-slip rubber pads, and the inner wall of the buffer rubber pad is fixedly connected to multiple suction cups.
[0011] Preferably, an activity space is opened inside the load-bearing plate and the buffer rubber pad, the plurality of suction cups are connected to the activity space, an airbag is fixedly connected to the inner wall of the activity space, and a pneumatic push plate is slidably connected to the inner wall of the activity space.
[0012] Preferably, an avoidance groove is provided on the lower surface of the buffer rubber pad, the inner wall of the avoidance groove is slidably connected with a push rod, the top end of the push rod passes through the inner wall of the activity space and is fixedly connected with a driving block, and the surface of the driving block is fixedly connected to the inner wall of the airbag.
[0013] Preferably, the bottom end of the push rod is fixedly connected to a push plate, the surface of the push rod is fixedly connected to a mounting block, the surface of the push rod is sleeved with a spring, the bottom end of the spring is fixedly connected to the upper surface of the mounting block, and the top end of the spring is fixedly connected to the inner top wall of the avoidance groove.
[0014] In summary, the technical effects and advantages of the present invention are as follows:
[0015] In the present invention, a swing link is provided, and the swing link is driven by the rotation of the rotating plate to swing at a certain angle. By providing a first link, the connection support on one side of the swing link is maintained. By providing an upper link, the upper part of the second link is connected and supported. By providing the second link, the link swings following the movement of the swing link to achieve the connection movement of the link. By providing a rotating axis, the movement of the swing link affects the movement of the moving legs and the second link through the rotating axis. By providing the moving legs, the walking force support is provided for the robot as a whole. The advantage of this is that it simulates the movement of human legs and there is no dead angle in the joint movement. At the same time, the movement speed of the robot is controlled and adjusted by the speed of the double-headed drive motor.
[0016] By setting up a buffer rubber pad, the vibration noise generated on the ground during movement can be reduced. By setting up multiple anti-slip rubber pads, the movement of the human foot is simulated and in contact with the ground surface during movement, so that the robot has the friction to move forward and prevents slipping, increases the friction, and maintains the stability of movement. By setting up multiple suction cups, the movement of the human heel is simulated, adsorbed to the ground, and stability is maintained during movement. The movement of human legs is simulated, and the two legs move forward in coordination to maintain smooth and stable movement. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.
[0018] Figure 1 A schematic diagram of the three-dimensional structure of an embodiment of the present application;
[0019] Figure 2 This is a schematic diagram of the three-dimensional structure of a double-head drive motor in an embodiment of the present application;
[0020] Figure 3 This is a schematic diagram of the three-dimensional structure of the fixed arc plate and the swing connecting rod in the embodiment of the present application;
[0021] Figure 4 This is a schematic diagram of the three-dimensional structure of the buffer rubber pad in the embodiment of the present application;
[0022] Figure 5 This is a schematic diagram of the cross-sectional structure of the buffer rubber pad in the embodiment of the present application;
[0023] Figure 6 It is a schematic diagram of the three-dimensional structure of the push rod in the embodiment of the present application.
[0024] In the figure: 1. main body; 2. head recognition device; 3. central balance device; 4. movable arm; 5. support plate; 6. walking grip mechanism; 601. fixed arc plate; 602. double-head drive motor; 603. rotating plate; 604. swing connecting rod; 605. second connecting rod; 606. first connecting rod; 607. upper connecting rod; 608. mounting shaft; 609. first lightweight hole; 610. second lightweight hole; 611. moving leg; 612. load-bearing plate; 613. buffer rubber pad; 614. suction cup; 615. avoidance groove; 616. push plate; 617. anti-slip rubber pad; 618. activity space; 619. pneumatic push plate; 620. air bag; 621. push rod; 622. driving block; 623. mounting block; 624. spring; 625. rotating shaft. DETAILED DESCRIPTION
[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.
[0026] Example 1
[0027] refer to Figure 1-Figure 6 An automated controlled biped walking robot is shown, comprising a main body 1, a head recognition device 2 is fixedly connected to the upper surface of the main body 1, movable arms 4 are installed on both sides of the main body 1, a central balancing device 3 is installed on the lower surface of the main body 1, a pair of support plates 5 are fixedly connected to the lower surface of the central balancing device 3, and a walking gripping mechanism 6 is fixedly connected to the inner wall of the support plate 5;
[0028] The walking gripping mechanism 6 includes a mounting shaft 608 fixedly connected to the inner wall of the support plate 5, the inner wall of the mounting shaft 608 is fixedly connected to a fixed arc plate 601, the opposite surfaces of a pair of fixed arc plates 601 are fixedly connected to the same double-headed driving motor 602, the output end of the double-headed driving motor 602 passes through one side of the fixed arc plate 601 and is fixedly connected to a rotating plate 603, and a plurality of first lightweight holes 609 are opened on the surface of the rotating plate 603.
[0029] Through the above structure, by setting up the head recognition device 2, visual imaging is performed to judge the environmental conditions; by setting up the central balancing device 3, the weight ratio of the upper and lower devices is balanced to maintain the stability of the movement; by setting up the support plate 5, the installation shaft 608 is supported and installed to maintain stability; by setting up the installation shaft 608, the fixed arc plate 601 is positioned, supported and fixed; by setting up a pair of fixed arc plates 601, the positioning stability of the installation of the double-headed drive motor 602 is maintained; by setting up the double-headed drive motor 602, the rotating plate 603 connected at both ends can be driven to rotate; by setting up a plurality of first lightweight holes 609, the overall weight of the rotating plate 603 can be reduced while ensuring the structural strength of the rotating plate 603.
[0030] As a preferred implementation in this embodiment, the walking grip mechanism 6 also includes a swing link 604 rotatably connected to the surface of the rotating plate 603, a second lightweight hole 610 is opened on the surface of the swing link 604, and the surface of the mounting shaft 608 is rotatably connected to the first link 606.
[0031] By setting a swing link 604, the swing link 604 is driven by the rotation of the rotating plate 603 to swing at a certain angle. By setting a second lightweight hole 610, the overall weight of the swing link 604 is reduced while ensuring the structural strength of the swing link 604. By setting a first link 606, the connection support on one side of the swing link 604 is maintained.
[0032] Example 2
[0033] In this embodiment, one side of the first connecting rod 606 is rotatably connected to the inner wall of the swing connecting rod 604 , the surface of the mounting shaft 608 is rotatably connected to the upper connecting rod 607 , and the inner wall of the upper connecting rod 607 is rotatably connected to the second connecting rod 605 .
[0034] By providing the upper connecting rod 607, the upper part of the second connecting rod 605 is connected and supported, and by providing the second connecting rod 605, it swings following the movement of the swing connecting rod 604, thereby realizing the connecting rod connection movement.
[0035] In this embodiment, a rotating shaft 625 is fixedly connected to the inner wall of the second connecting rod 605 , a surface of the rotating shaft 625 is rotatably connected to the inner wall of the swing connecting rod 604 , and a moving leg 611 is fixedly connected to the surface of the rotating shaft 625 .
[0036] By setting the rotating shaft 625, the movement of the swing link 604 affects the movement of the moving leg 611 and the second link 605 through the rotating shaft 625. By setting the moving leg 611, the walking force of the robot as a whole is supported.
[0037] In this embodiment, the bottom end of the moving leg 611 is fixedly connected to a load-bearing plate 612, the lower surface of the load-bearing plate 612 is fixedly connected to a buffer rubber pad 613, the lower surface of the buffer rubber pad 613 is fixedly connected to multiple anti-slip rubber pads 617, and the inner wall of the buffer rubber pad 613 is fixedly connected to multiple suction cups 614.
[0038] By setting a load-bearing plate 612 and installing a fixed buffer rubber pad 613, the vibration noise generated on the ground during movement can be reduced. By setting a plurality of anti-skid rubber pads 617, the movement of the soles of human feet can be simulated during movement, and the robot can be in contact with the ground surface, so that the robot has the friction to move forward, and at the same time, it can prevent slipping, increase friction, and maintain the stability of movement. By setting a plurality of suction cups 614, the movement of the heels of human feet can be simulated, and the robot can be adsorbed on the ground to maintain stability during movement.
[0039] In this embodiment, an activity space 618 is opened inside the load-bearing plate 612 and the buffer rubber pad 613, and multiple suction cups 614 are connected to the activity space 618. The inner wall of the activity space 618 is fixedly connected to an air bag 620, and the inner wall of the activity space 618 is slidably connected to a pneumatic push plate 619.
[0040] By setting up an activity space 618, space is provided for air pressure to flow. By setting up an air pressure push plate 619, the air pressure push plate 619 can slide left and right under the action of air pressure for balance adjustment. By setting up an airbag 620, when the air pressure push plate 619 moves in a direction close to the airbag 620, the air around the airbag 620 is compressed into the airbag 620 to cause it to expand.
[0041] In this embodiment, an avoidance groove 615 is opened on the lower surface of the buffer rubber pad 613, and the inner wall of the avoidance groove 615 is slidably connected with a push rod 621. The top end of the push rod 621 passes through the inner wall of the activity space 618 and is fixedly connected with a driving block 622. The surface of the driving block 622 is fixedly connected to the inner wall of the airbag 620.
[0042] By setting the avoidance groove 615, space is given to the push plate 616 and the mounting block 623 to move around. By setting the top rod 621, when the top rod 621 rises, it drives the driving block 622 to move upward, squeezes and discharges the air in the airbag 620, and pushes the air pressure push plate 619 to move in the direction away from the airbag 620.
[0043] In this embodiment, the bottom end of the push rod 621 is fixedly connected to the push plate 616, the surface of the push rod 621 is fixedly connected to the mounting block 623, the surface of the push rod 621 is sleeved with a spring 624, the bottom end of the spring 624 is fixedly connected to the upper surface of the mounting block 623, and the top end of the spring 624 is fixedly connected to the inner top wall of the avoidance groove 615.
[0044] By setting the push plate 616, when the push plate 616 contacts the ground during movement and is subjected to force, the mounting block 623 and the top rod 621 are driven to rise as a whole. At this time, the spring 624 located in the avoidance groove 615 is compressed by the mounting block 623 to become shorter. When the push plate 616 is lifted and separated from the ground, the spring 624 drives the mounting block 623, the top rod 621 and the push plate 616 to drop and reset as a whole.
[0045] The working principle of the present invention is: an automatically controlled biped walking robot, when the robot needs to walk, the double-headed driving motor 602 is started, and the two output ends of the double-headed driving motor 602 drive the rotating plate 603 to rotate, and the rotating plate 603 rotates to drive the swing link 604 to move, because the inner wall of one side of the swing link 604 is rotatably connected with the first link 606 and the rotating shaft 625, the swing link 604 is limited so that the swing link 604 swings at a certain angle during movement, driving the first link 606 to swing and rotate around the installation shaft 608, and the movement of the rotating shaft 625 drives the second link 605 to move, so that the bottom end of the upper link 607 is subjected to force to swing and rotate around the installation shaft 608, and the moving leg 611 simulates the walking action of a human leg under the action of the rotating shaft 625. When walking, the multiple suction cups 614 on the buffer rubber pad 613 contact with the ground, simulating the movement of the human heel, so that the multiple suction cups 614 are adsorbed on the ground to keep the movement. The air is squeezed into the activity space 618 through the suction cup 614, driving the air pressure push plate 619 to move in the direction close to the air bag 620, compressing the air around the air bag 620 into the air bag 620 to expand it. During the movement, the anti-skid rubber pad 617 simulates the movement of the human foot and contacts the ground surface, so that the robot has the friction to move forward, while preventing slipping, increasing the friction, and maintaining the stability of the movement. When the surface of the anti-skid rubber pad 617 contacts the ground, the push plate 616 drives the top rod 621 to rise as a whole, and the top rod 621 drives the driving block 622 to rise, squeezing and discharging the air in the air bag 620, driving the air pressure push plate 619 to move in the direction away from the air bag 620. At this time, the air is discharged through multiple suction cups 614. This cycle is repeated when the robot moves to maintain the stability of walking. With the above structure, the movement speed is controlled by the speed of the double-headed drive motor 602, and the two legs work in coordination to maintain the smoothness and stability of the movement.
[0046] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. An automatically controlled biped walking robot, comprising a main body (1), characterized in that: The upper surface of the main body (1) is fixedly connected to a head recognition device (2), movable arms (4) are installed on both sides of the main body (1), a central balancing device (3) is installed on the lower surface of the main body (1), a pair of support plates (5) are fixedly connected to the lower surface of the central balancing device (3), and a walking gripping mechanism (6) is fixedly connected to the inner wall of the support plate (5); The walking gripping mechanism (6) comprises a mounting shaft (608) fixedly connected to the inner wall of the support plate (5); the inner wall of the mounting shaft (608) is fixedly connected to a fixed arc plate (601); the opposite surfaces of a pair of the fixed arc plates (601) are fixedly connected to the same double-headed driving motor (602); the output end of the double-headed driving motor (602) passes through one side of the fixed arc plate (601) and is fixedly connected to a rotating plate (603); and a plurality of first light-weight holes (609) are provided on the surface of the rotating plate (603).
2. The automatic controlled biped walking robot according to claim 1, characterized in that: The walking gripping mechanism (6) also includes a swing link (604) rotatably connected to the surface of the rotating plate (603), a second lightweight hole (610) is opened on the surface of the swing link (604), and the surface of the mounting shaft (608) is rotatably connected to the first link (606).
3. The automatic controlled biped walking robot according to claim 2, characterized in that: One side of the first connecting rod (606) is rotatably connected to the inner wall of the swing connecting rod (604), the surface of the mounting shaft (608) is rotatably connected to the upper connecting rod (607), and the inner wall of the upper connecting rod (607) is rotatably connected to the second connecting rod (605).
4. The automatic controlled biped walking robot according to claim 3, characterized in that: The inner wall of the second connecting rod (605) is fixedly connected to a rotating shaft (625), the surface of the rotating shaft (625) is rotatably connected to the inner wall of the swing connecting rod (604), and the surface of the rotating shaft (625) is fixedly connected to a moving leg (611).
5. The automatic controlled biped walking robot according to claim 4, characterized in that: The bottom end of the movement leg (611) is fixedly connected to a load-bearing plate (612), the lower surface of the load-bearing plate (612) is fixedly connected to a buffer rubber pad (613), the lower surface of the buffer rubber pad (613) is fixedly connected to a plurality of anti-slip rubber pads (617), and the inner wall of the buffer rubber pad (613) is fixedly connected to a plurality of suction cups (614).
6. The automatic controlled biped walking robot according to claim 5, characterized in that: An activity space (618) is provided inside the load-bearing plate (612) and the buffer rubber pad (613); a plurality of suction cups (614) are connected to the activity space (618); an air bag (620) is fixedly connected to the inner wall of the activity space (618); and an air pressure push plate (619) is slidably connected to the inner wall of the activity space (618).
7. The automatic controlled biped walking robot according to claim 6, characterized in that: The lower surface of the buffer rubber pad (613) is provided with an avoidance groove (615), and the inner wall of the avoidance groove (615) is slidably connected with a push rod (621).
8. The automatic controlled biped walking robot according to claim 7, characterized in that: The top end of the push rod (621) penetrates the inner wall of the activity space (618) and is fixedly connected to a driving block (622); the surface of the driving block (622) is fixedly connected to the inner wall of the airbag (620).
9. The automatic controlled biped walking robot according to claim 8, characterized in that: The bottom end of the push rod (621) is fixedly connected to a push plate (616), and the surface of the push rod (621) is fixedly connected to a mounting block (623).
10. The automatic controlled biped walking robot according to claim 9, characterized in that: A spring (624) is sleeved on the surface of the push rod (621), the bottom end of the spring (624) is fixedly connected to the upper surface of the mounting block (623), and the top end of the spring (624) is fixedly connected to the inner top wall of the avoidance groove (615).