Humanoid quadruped robot

Abstract

The humanoid quadruped robot is composed of a robot head 1, a robot neck 2, a robot body 16, three robot arms, four robot legs, a waist joint piece 7, a thoracolumbar hip joint piece 22, a plurality of joint motors and auxiliary parts, and compared with an existing robot, the humanoid quadruped robot has the four differences that the robot head 1 is fixed to the robot neck 2, and a shell of the robot head 1 is made of a one-way light-transmitting material; one-way light transmission means that a visual device in the robot head 1 can see external scenes, external human eyes and the visual device cannot see internal parts, two positions are three robot arms, one robot arm is arranged at the chest position of the robot body 16, retracts when not used and stretches out when used, and three positions are that the robot body 16 rotates by 360 degrees at random at the waist joint position. Four machine legs with the same structure are arranged in four places, two machine legs fall to the ground and the other two machine legs are lifted up in the walking process, and the aim of walking is achieved through sequential circulation, so that walking balance and load bearing are facilitated.

Description

Technical Field

[0001] The present invention relates to the field of humanoid robots, in particular to a humanoid quadruped robot similar in appearance to humans. Background Art

[0002] The purpose of designing and using humanoid robots is to replace human work in different occasions. There are two main types of existing robots. One is that the appearance is similar to that of a human, including skin, facial features, etc., and it mainly imitates human movements, voice, walking, standing and other movements, but in practical terms it cannot ideally replace human work. The other is that the appearance is somewhat different from that of a human, but it can use human tools and equipment to replace some human work. It also has some shortcomings. The main reason is that the center of gravity of the robot is high, and the existing technology cannot achieve the balance and load-bearing capacity of humans. In some aspects, a quadruped robot is used to complete this. The quadruped robot is also called a robot dog. The disadvantage is that it has no mechanical arms and cannot replace the work done by human arms. Most of the robots that replace human arms are fixed and roller-skating. In the actual application of robots, there is an urgent need for a powerful and very practical humanoid robot. Summary of the invention

[0003] The appearance of the humanoid quadruped robot is similar to that of a human being, and different parts of the robot correspond to different parts of the human body. The robot head referred to in the present invention corresponds to the head of the human body, the robot neck refers to the neck of the human body, and the robot torso refers to the torso of the human body. The robot torso includes a robot shoulder, a robot chest, a robot waist and a robot pelvis. The robot shoulder refers to the shoulder of the human body, the robot chest refers to the chest of the human body, the robot waist refers to the waist of the human body, the robot arm refers to the arm of the human body, and the robot leg refers to the leg of the human body. The robot arm is composed of a robot upper arm, a robot lower arm and a robot hand. The robot leg is composed of a robot thigh, a robot lower leg and a robot foot. The neck refers to The shoulder joint is the connection joint between the machine neck and the machine shoulder, the shoulder joint referred to is the connection joint between the machine upper arm and the machine shoulder, the elbow joint referred to is the connection joint between the machine upper arm and the machine lower arm, the wrist joint referred to is the connection joint between the machine lower arm and the machine hand, the hip joint referred to is the connection joint between the pelvis of the machine trunk and the machine leg, the knee joint referred to is the connection joint between the machine thigh and the machine calf, the ankle joint referred to is the connection joint between the machine calf and the machine foot, the thoracic joint referred to is the connection joint between the chest of the machine trunk and the thoracolumbar hip joint component, and the waist joint referred to is the connection joint between the waist of the machine trunk and the thoracolumbar hip joint component; The present invention has two robot arms with the same structure and installation position as the robot arms of the existing robot. The present invention uses a first robot arm and a second robot arm to describe. In the description of the existing robot, there are four different sides, namely, the front, the back, the left and the right. There are two different walking directions, namely, forward and backward. There are two states, namely, left turn and right turn, during the walking process. Since the corresponding sides are the same in the present invention, they cannot be described by the front, the back, the left and the right. Therefore, the present invention uses a first longitudinal side, a second longitudinal side, a first lateral side and a second lateral side to describe the four different sides of the robot. The first longitudinal walking and the second longitudinal walking are used to describe the two different walking directions. A 90-degree turn is used to describe the two states during the walking process. The side on one side of the first robot arm is the first lateral side, and the side on one side of the second robot arm is the second lateral side. The two sides without the robot arm are the first longitudinal side and the second longitudinal side, respectively. Walking with the first longitudinal side in front is the first longitudinal walking, and walking with the second longitudinal side in front is the second longitudinal walking. Since the rotation directions of the robot joints are different, the present invention uses the X-axis, Y-axis and Z-axis to describe three different rotation directions respectively, the X-axis refers to the horizontal rotation, the Y-axis refers to the rotation toward the first lateral direction and the second lateral direction, and the Z-axis refers to the rotation toward the first longitudinal direction and the second longitudinal direction; The humanoid quadruped robot is characterized in that the humanoid quadruped robot has four mechanical legs with the same structure, the four mechanical legs are respectively a first mechanical leg, a second mechanical leg, a third mechanical leg and a fourth mechanical leg, the first mechanical leg and the fourth mechanical leg are on the first lateral side, each mechanical leg is composed of a mechanical thigh, a mechanical shank, a mechanical foot, an ankle joint part, a compression spring and auxiliary parts, and a pressure sensor, a control spring, a pressure control part and a joint motor are arranged inside the mechanical shank; The second machine leg and the third machine leg are on the second lateral side, the hip joint of the first machine leg and the hip joint of the fourth machine leg are on the same axis, which is the first Z-axis hip joint axis, the hip joint of the second machine leg and the hip joint of the third machine leg are on the same axis, which is the second Z-axis hip joint axis, the connection between the first Z-axis hip joint axis and the second Z-axis hip joint axis and the thoracolumbar hip joint component is on an axis, which is the Y-axis hip joint axis, the two ends of the Y-axis hip joint axis are respectively fixed on the first longitudinal side and the second longitudinal side of the thoracolumbar hip joint component, and its axis is respectively perpendicular to the first longitudinal side and the second longitudinal side, the connecting joint between the first Z-axis hip joint axis and the Y-axis hip joint axis is the first Y-axis hip joint, and the connecting joint between the second Z-axis hip joint axis and the Y-axis hip joint axis is the second Y-axis hip joint; The connection between the machine calf and the machine foot is an ankle joint. One end of the ankle joint is connected to the machine calf through an ankle joint, which is controlled by a motor. The other end of the ankle joint is connected to the machine foot through an ankle connection joint, which is not controlled by a motor and only serves as a connection. There is a compression spring on the ankle joint, which serves as a buffer between the machine foot and the machine calf. The ankle joint controls a pressure control component inside the machine calf, and the pressure control component controls a pressure sensor through a control spring. The detection signal output by the pressure sensor and the detection signals output by the other three pressure sensors enter a signal comparison circuit together to detect the stress condition of each machine leg. In addition to the first robot arm and the second robot arm, there is another robot arm, which is the third robot arm. The third robot arm is located at the chest of the robot trunk. When the third robot arm is not in use, it is retracted into the chest of the robot trunk. When in use, it is extended. The extension direction can be extended to the first longitudinal side direction or the second longitudinal side direction according to requirements. When the robot is in a standing state, the axis of the first Z-axis to the hip joint axis and the axis of the second Z-axis to the hip joint axis are on the same axis; when the robot is in a longitudinal walking state, the walking tracks of the first robot leg and the fourth robot leg are on the same track, and the walking tracks of the second robot leg and the third robot leg are on the same track; The machine head is fixed on the neck of the machine. The shell of the machine head is made of one-way light-transmitting material. One-way light-transmitting means that the visual device inside can see the entire scene outside through the shell, and the human eye and the visual device cannot see the internal components of the machine head through the shell. Two rotating brackets are installed inside the machine head. The two brackets are controlled by two motors respectively. The rotation angle of each bracket is 180 degrees. The two brackets do not cross each other. The visual device and multiple sensors with different functions are installed on the two brackets respectively. The connecting joint between the thoraco-lumbar-hip joint and the chest of the machine trunk is the thoracic joint. The thoracic joint is formed by connecting a spherical part on the thoraco-lumbar-hip joint and a concave part on the chest of the machine trunk. The thoracic joint is a joint with Y-axial and Z-axial rotation. The waist joint is formed by placing the waist joint part on the step on the thoraco-lumbar-hip joint part using the waist joint circular hole thereon and rotating. The rotation angle range of the waist joint is 360 degrees. The waist joint is a joint that rotates in the X-axial direction. The connection between the waist joint part and the machine trunk is a plurality of electric telescopic devices, preferably four. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 It is a marked diagram of the mechanical parts in the present invention.

[0005] Figure 2 It is a marked diagram of the joint motor in the present invention.

[0006] Figure 3 It is a marked diagram of the joint parts in the present invention.

[0007] Figure 4 It is a labeled diagram of the components and joint motors of the four robot legs in the present invention.

[0008] Figure 5 It is a marked diagram of the joints of the four robot legs in the present invention.

[0009] Figure 6 It is a structural principle diagram of the connection between the waist joint component and the joint motor in the present invention.

[0010] Figure 7 It is a structural principle diagram of the machine shank in the present invention.

[0011] Figure 8 It is a structural principle diagram of the front side of the third machine arm and the third machine arm in the present invention.

[0012] Fig. 9 It is a structural principle diagram of the side surface of the third machine arm and the third machine arm in the present invention.

[0013] Fig.10 It is a structural principle diagram of the connection between the robot leg and the hip joint in the present invention.

[0014] Fig.11 It is a structural principle diagram of the thoracolumbar and hip joint components and related parts in the present invention.

[0015] Fig.12 It is a structural principle diagram of the machine head in the present invention.

[0016] Fig.13 It is a structural principle diagram of the 300 type motor in the present invention.

[0017] Fig.14 It is a state principle diagram of the longitudinal walking of the present invention.

[0018] Fig.15 It is another state principle diagram of the longitudinal walking of the present invention.

[0019] Fig.16 It is a schematic diagram of the control sequence of the robot legs in the longitudinal walking state of the present invention.

[0020] Fig.17 It is a schematic diagram of the control sequence of the robot legs when the present invention turns 90 degrees.

[0021] Fig.18 It is a schematic diagram of the control sequence of the machine legs in the stair climbing state of the present invention.

[0022] Fig.19 It is a schematic diagram of the control sequence of the machine legs in the stair-going state of the present invention.

[0023] Marking description of mechanical parts in the attached figure: machine head 1, machine neck 2, first shoulder joint 3, first machine upper arm 4, first machine lower arm 5, first machine hand 6, waist joint 7, first Z-axis hip joint axis 8, Y-axis hip joint axis 9, first machine thigh 10, first machine calf 11, first ankle joint 12, first compression spring 13, first machine foot 14, first bracket 15, machine trunk 16, second shoulder joint 17, second machine upper arm 18, second machine lower arm 19, second machine hand 20, second Z-axis hip joint axis 21, thoracolumbar hip joint 22, second machine thigh 23, second Machine calf 24, second ankle joint 25, second compression spring 26, second machine foot 27, third machine thigh 58, third machine calf 59, third ankle joint 60, third compression spring 61, third machine foot 62, fourth machine thigh 63, fourth machine calf 64, fourth ankle joint 65, fourth compression spring 66, fourth machine foot 67, pressure sensor 70, control spring 71, pressure control component 72, third machine small arm 73, third machine upper arm 74, first gear 76, second gear 78, third gear 80, fourth gear 82, auxiliary gear 83 and second bracket 85.

[0024] Explanation of the joint motor markings in the accompanying drawings: the first motor 28, the second motor 29, the third motor 30, the fourth motor 31, the fifth motor 32, the sixth motor 33, the seventh motor 34, the eighth motor 35, the ninth motor 36, the tenth motor 37, the eleventh motor 38, the twelfth motor 39, the thirteenth motor 40, the fourteenth motor 41, the fifteenth motor 42, the sixteenth motor 43, the seventeenth motor 44, the eighteenth motor 45, the nineteenth motor 46, the twentieth motor 47, the twenty-first motor 48, the twenty-second motor 49, the twenty-third motor 50, the twenty-fourth motor 51, the twenty-fifth motor 52, the twenty-sixth motor 53, the twenty-seventh motor 54, the twenty-eighth motor 55, the twenty-ninth motor 56, the thirtieth motor 57, the thirty-first motor 68, the thirty-second motor 69 and the thirty-third motor 84.

[0025] Explanation of joint markings in the accompanying drawings: cervical shoulder joint 201, first Z-axis shoulder joint 202, first Y-axis shoulder joint 203, thoracic joint 204, first elbow joint 205, first wrist joint 206, waist joint 207, first Z-axis hip joint 208, first knee joint 209, first ankle joint 210, first ankle connection joint 211, first Y-axis hip joint 212, second Z-axis shoulder joint 213, second Y-axis shoulder joint 214, third robot arm Z-axis joint 215, second elbow joint 216, second wrist joint 217, second Z-axis hip joint 218, second knee joint 219, second ankle joint 220, second ankle connection joint 221, third Z-axis hip joint 222, third knee joint 223, third ankle joint 224, third ankle connection joint 225, fourth Z-axis hip joint 226, fourth knee joint 227, fourth ankle joint 228, fourth ankle connection joint 229 and second Y-axis hip joint 230.

[0026] Description of electronic components in the accompanying drawings: a first electromagnetic brake component 75 , a second electromagnetic brake component 77 , a third electromagnetic brake component 79 , and a fourth electromagnetic brake component 81 . DETAILED DESCRIPTION

[0027] Reference Figure 1 The humanoid quadruped robot is composed of a machine head 1, a machine neck 2, a machine trunk 16, three machine arms, four machine legs, a waist joint 7, a thoracolumbar hip joint 22, and multiple joint motors and auxiliary components. The machine head 1 is fixedly connected to the machine neck 2, and the machine neck 2 is connected to the shoulder of the machine trunk 16. The connecting joint between them is the neck-shoulder joint, the neck-shoulder joint is a Z-axis joint, and the joint motor is the thirteenth motor 40.

[0028] Refer to the figure, Figure 2 and Figure 3The humanoid quadruped robot has three robot arms, namely a first robot arm 101, a second robot arm 102 and a third robot arm 103. The first robot arm 101 is composed of a first robot arm 4, a first robot arm 5 and a first robot hand 6. The connection between the first robot arm 4 and the first robot arm 5 is a first elbow joint 205, and the joint motor is a fifth motor 32. The connection joint between the first robot arm 5 and the first robot hand 6 is a first wrist joint 206, and the joint motor is an eighth motor 35. The connection between the first robot arm 4 and the machine trunk 16 is a first shoulder joint 3. One end of the first shoulder joint 3 is connected to the shoulder of the machine trunk 16, and the connection joint is a first Z-axis shoulder joint 202. The joint motor is a fourth motor 31, and the other end is connected to the first robot arm 4, and the connection joint is a first Y-axis shoulder joint 2 03, the joint motor is the third motor 30, the second robot arm 102 is composed of the second robot arm 18, the second robot arm 19 and the second robot hand 20, the connecting joint between the second robot arm 18 and the second robot arm 19 is the second elbow joint 216, the joint motor is the seventeenth motor 44, the connecting joint between the second robot arm 19 and the second robot hand 20 is the second wrist joint 217, the joint motor is the twentieth motor 47, the connection between the second robot arm 18 and the machine trunk 16 is the second shoulder joint 17, one end of the second shoulder joint 17 is connected to the shoulder of the machine trunk 16, the connecting joint is the second Z-axis shoulder joint 213, the joint motor is the sixteenth motor 43, the other end is connected to the second robot arm 18, the connecting joint is the second Y-axis shoulder joint 214, and the joint motor is the fifteenth motor 42.

[0029] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The humanoid quadruped robot has four machine legs, namely a first machine leg 104, a second machine leg 105, a third machine leg 106 and a fourth machine leg 107. The first machine leg 104 and the fourth machine leg 107 are on the first lateral side, the hip joint of the first machine leg 104 is a first Z-axial hip joint 208, the hip joint of the fourth machine leg 107 is a fourth Z-axial hip joint 226, the first Z-axial hip joint 208 and the fourth Z-axial hip joint 226 share a joint axis, which is the first Z-axial hip joint axis 8, the second machine leg 105 and the third machine leg 106 are on the second lateral side, the hip joint of the second machine leg 105 is a second Z-axial hip joint 217, the hip joint of the third machine leg 106 is a third Z-axial hip joint 222, the second Z-axial hip joint 217 and the third Z-axial hip joint 222 share a joint axis, which is the second Z-axial hip joint axis 21.

[0030] Reference Figure 1 , Figure 2 and Figure 3 The first machine leg 104 is composed of a first machine thigh 10, a first machine calf 11, a first ankle joint 12, a first compression spring 13, a first machine foot 14, a tenth motor 37, an eleventh motor 38 and a twelfth motor 39. The connecting joint between the first machine thigh 10 and the first machine calf 11 is the first knee joint 209, and the joint motor is the eleventh motor 38. The first machine calf 11 is connected to the first machine foot 14 by means of the first ankle joint 12. The connecting joint between one end of the first ankle joint 12 and the first machine calf 11 is the first ankle joint 210, and the joint motor is the twelfth motor 39. The connecting joint between the other end of the first ankle joint 12 and the first machine foot 14 is the first ankle connecting joint 211. The first ankle connecting joint 211 has no joint motor and only serves to connect with each other.

[0031] Reference Figure 1 , Figure 2 and Figure 3 The second machine leg 105 is composed of a second machine thigh 23, a second machine calf 24, a second ankle joint 25, a second compression spring 26, a second machine foot 27, a twenty-second motor 49, a twenty-third motor 50 and a twenty-fourth motor 51. The connecting joint between the second machine thigh 23 and the second machine calf 24 is the second knee joint 219, and the joint motor is the twenty-third motor 50. The second machine calf 24 is connected to the second machine foot 24 by the second ankle joint 25. The connecting joint between one end of the second ankle joint 25 and the second machine calf 24 is the second ankle joint 220, and the joint motor is the twenty-fourth motor 51. The joint at which the other end of the second ankle joint 25 is connected to the second machine foot 27 is the second ankle connecting joint 221. The second ankle connecting joint 221 has no joint motor and only serves to connect with each other.

[0032] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5The third machine leg 106 is composed of a third machine thigh 58, a third machine calf 59, a third ankle joint 60, a third compression spring 61, a third machine foot 62, a twenty-fifth motor 52, a twenty-sixth motor 53 and a twenty-seventh motor 54. The connecting joint between the third machine thigh 58 and the third machine calf 59 is the third knee joint 223, and the joint motor is the twenty-sixth motor 53. The third machine calf 59 is connected to the third machine foot 62 by the third ankle joint 60. The connecting joint between one end of the third ankle joint 60 and the third machine calf 59 is the third ankle joint 224, and the joint motor is the twenty-seventh motor 54. The joint at the other end of the third ankle joint 60 and the third machine foot 62 is the third ankle connecting joint 225. The third ankle connecting joint 225 has no joint motor and only serves to connect with each other.

[0033] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 The fourth machine leg 107 is composed of a fourth machine thigh 63, a fourth machine shank 64, a fourth ankle joint 65, a fourth compression spring 66, a fourth machine foot 67, a twenty-eighth motor 55, a twenty-ninth motor 56 and a thirtieth motor 57. The connecting joint between the fourth machine thigh 63 and the fourth machine shank 64 is the fourth knee joint 227, and the joint motor is the twenty-ninth motor 56. The fourth machine shank 64 is connected to the fourth machine foot 67 by the fourth ankle joint 65. The connecting joint between one end of the fourth ankle joint 65 and the fourth machine shank 64 is the fourth ankle joint 228, and the joint motor is the thirtieth motor 57. The joint connecting the other end of the fourth ankle joint 65 and the fourth machine foot 67 is the fourth ankle connecting joint 229. The fourth ankle connecting joint 229 has no joint motor and only serves to connect with each other.

[0034] Reference Figure 6 and Fig.11There is a gear part on the waist joint 7, which is the waist joint gear part 7-1, and a circular hole is the waist joint circular hole 7-2. The waist joint gear part 7-1 protrudes from the plane of the waist joint 7 and meshes with the power output gear of the eighteenth motor 45 and the auxiliary gear 83. In actual production, multiple auxiliary gears 83 are used to increase the stability of the waist joint 7 on the thoracolumbar hip joint 22. There are four motor mounting parts on the waist joint 7, and the distances between these four motor mounting parts are equal. There are four electric telescopic devices in the four motor mounting parts. Four push-pull rod output motors are actually used, which are the seventh motor 34, the nineteenth motor 46, the thirty-first motor 68 and the thirty-second motor 69. The motor ends of these four motors are connected to the waist joint 7, and the push-pull rod ends are connected to the chest of the machine trunk 16. The motor ends connected to the waist joint 7 are movably connected. The four motors have a range of motion on the waist joint 7 respectively, and the activity direction is limited to the direction toward the center of the circle and the opposite direction toward the center of the circle, and cannot move in the circumferential direction.

[0035] Reference Figure 7 , inside the first machine calf 11, there are a pressure sensor 70, a control spring 71, a pressure control component 72, the twelfth motor 39 and one end of the first ankle joint component 12. The end of the first ankle joint component 12 has a gear part, which is the ankle joint gear part 12-1, which is meshed with the output gear of the twelfth motor 39. The pressure control component 72 can only move axially and cannot rotate. The force of the axial movement of the first ankle joint component 12 passes through the pressure control component 72, and controls the pressure sensor 70 through the control spring 71. The pressure sensor 70 is used to detect the bearing capacity of the first machine leg 104 in real time. Compared with the other three machine legs, the other end of the first ankle joint component 12 is a spherical part 12-2, and there is a concave part 14-4 on the first machine foot 14. The spherical part 12-2 cannot be pulled out after being placed in the concave part 14-4. The actual production is that the first machine foot 14 is composed of two parts longitudinally, and the concave part 14-4 is divided into two The semicircular and spherical parts 12-2 are put in and then combined into one. The first ankle joint 12 has a larger range of Z-axis movement on the first machine foot 14 and a smaller range of Y-axis movement. When the first machine foot 14 is in a stress-free state, the axis of the first ankle joint 12 is perpendicular to the sole plane of the first machine foot 14. The functions of the first pressure spring 13 are, first, a buffer between the first machine foot 14 and the first machine calf 11, and second, the first machine foot 14 is restored to a state perpendicular to the sole plane and the axis of the first ankle joint 12. The shape of the first machine foot 14 is preferably elliptical. Sensors for detecting distance are installed at the two longitudinal ends of the first machine foot 14, namely the first sensor 14-1 and the second sensor 14-2. Their function is to detect the distance between the two longitudinal ends of the first machine foot 14 and the obstacles. The internal structures of the second machine calf 24, the third machine calf 59 and the fourth machine calf 64 are exactly the same as the internal structure of the first machine calf.

[0036] Reference Figure 8 and Fig. 9 The third robot arm 103 is composed of a third robot arm 74, a third robot arm 73, a second motor 29, a sixth motor 33 and a fourteenth motor 41. The third robot arm 103 is located at the chest of the robot trunk 16. When not in use, it is retracted into the chest of the robot trunk 16. When in use, it is extended. The extension direction can be extended to the first longitudinal side direction or to the second longitudinal side direction according to the instruction. The principle of controlling the extension direction of the third robot arm 103 is: the second motor 29 controls the control position of the third robot arm 74 to be biased toward the first longitudinal side direction, and the fourteenth motor 41 controls the control position of the third robot arm 74 to be biased toward the second longitudinal side direction. If the second motor 29 is controlled to be extended first and the fourteenth motor 41 is controlled to be extended first, the third robot arm 103 is extended to the second longitudinal side direction. The third machine arm 74 extends to the first longitudinal side after the motor 41 extends out, and the third machine arm 74 extends to the first longitudinal side. If the fourteenth motor 41 is controlled to extend first and the second motor 29 extends out later, the third machine arm 74 extends to the second longitudinal side. After the third machine arm 74 is extended, the sixth motor 33 controls the extension of the third machine arm 73, and the extension length is controlled as needed. Furthermore, according to actual needs, different components, such as robot hands, pallets and tools, are installed at the extended end of the third machine arm 73. According to actual needs, the third machine arm 103 is divided into two machine arms, one extending to the first longitudinal side, and the other extending to the second longitudinal side. Its working principle is the same as that of the present invention.

[0037] Reference Fig.10 and Fig.11 The two ends of the Y-axial hip joint axis 9 are respectively fixed on the first longitudinal side and the second longitudinal side of the thoracolumbar hip joint component 22, and their axes are respectively perpendicular to the first longitudinal side and the second longitudinal side. One end of the first Z-axial hip joint axis 8 rotates on the Y-axial hip joint axis 9 to become the first Y-axial hip joint 212, and one end of the second Z-axial hip joint axis 21 rotates on the Y-axial hip joint axis 9 to become the second Y-axial hip joint 230. When the robot is in a standing state, the axis of the first Z-axial hip joint axis 8 is on the same axis as the axis of the second Z-axial hip joint axis 21.

[0038] Reference Fig.10 and Fig.11 The connecting joint between the first machine leg 104 and the first Z-axial hip joint axis 8 is the first Z-axial hip joint 208, the connecting joint between the fourth machine leg 107 and the first Z-axial hip joint 8 is the fourth Z-axial hip joint 226, the connecting joint between the second machine leg 105 and the second Z-axial hip joint 21 is 218, and the connecting joint between the third machine leg 106 and the second Z-axial hip joint 21 is 222.

[0039] Reference Fig.10The first gear 76, the second gear 78, the third gear 80 and the fourth gear 82 have the same structure, and their working principle is: the gear on the output shaft of the tenth motor 37 is fixed to the first gear 76 on the first Z-axis hip joint shaft 8 The gear on the output shaft of the twenty-eighth motor 55 is engaged with the fourth gear 82 fixed on the first Z-axis hip joint axis 8, driving the fourth machine leg 107 to rotate around the first Z-axis hip joint axis 8, providing power for the fourth machine leg 107 to walk. The gear on the output shaft of the twenty-second motor 49 is engaged with the second gear 78 fixed on the second Z-axis hip joint axis 21, driving the second machine leg 105 to rotate around the second Z-axis hip joint axis 21, providing power for the second machine leg 105 to walk. The gear on the output shaft of the twenty-fifth motor 52 is engaged with the third gear 80 fixed on the second Z-axis hip joint axis 21, driving the third machine leg 106 to rotate around the second Z-axis hip joint axis 21, providing power for the third machine leg 106 to walk.

[0040] Reference Fig.10 The first electromagnetic brake component 75, the second electromagnetic brake component 77, the third electromagnetic brake component 79 and the fourth electromagnetic brake component 81 have the same structure, and their function is: the brake pad in the electromagnetic brake extends after the electromagnet is energized and retracts after the power is off. After the brake pad is extended, the joint is locked and cannot rotate. According to actual needs, the first machine leg 104, the second machine leg 105, the third machine leg 106 and the fourth machine leg 107 need to be locked, and four electromagnetic brake components are used to lock the machine legs.

[0041] Reference Fig.11 The connection joint between the thoracolumbar hip joint 22 and the chest of the machine trunk 16 is the chest joint 204. The chest joint 204 is formed by connecting a spherical part 22-1 on the thoracolumbar hip joint 22 and a concave part on the chest of the machine trunk 16. The chest joint 204 is a rotation joint with Y-axis and Z-axis. The machine trunk 16 can move in any direction of the first longitudinal side, the second longitudinal side, the first lateral side and the second lateral side at this joint, as well as any direction between two of the sides. 07 is the waist joint component 7 which is placed on the step on the thoracic-lumbar-hip joint component 22 and rotated using the waist joint circular hole 7-2 thereon. The rotation angle range of the waist joint 207 is 360 degrees. The waist joint 207 is an X-axis rotation joint. The joint motor that drives the waist joint component 7 to rotate on the step of the thoracic-lumbar-hip joint component 22 is the eighteenth motor 45. In order to prevent the waist joint component 7 from detaching from the thoracic-lumbar-hip joint component 22, the eighteenth motor 45 and the auxiliary gear 83 are installed after the waist joint component 7 is placed on the step on the thoracic-lumbar-hip joint component 22.

[0042] Reference Fig.11The joint motor of the first Y-axis hip joint 212 is the ninth motor 36, and the joint motor of the second Y-axis hip joint 230 is the twenty-first motor 48. According to the structure and stress conditions of the first Z-axis hip joint axis 8 and the second Z-axis hip joint axis 21 in the entire robot, one is that a larger power is required to drive, and the other is that the rotation angle is small. A joint motor with an output shaft having a screw structure is adopted. The output shafts of the ninth motor 36 and the twenty-first motor 48 are screw structures, and the first threaded hole 8-1 on the corresponding first Z-axis hip joint axis 8 is matched with the output shaft of the twenty-first motor 48, and the second threaded hole 21-1 on the second Z-axis hip joint axis 21 is matched with the ninth motor 36. Since the angles of the first Z-axis hip joint component 8 and the second Z-axis hip joint component 21 with the output shaft of the joint motor will change when they are controlled, the actual production is that there is a movable gap between the fixed ends of the ninth motor 36 and the twenty-first motor 48, or there is no thread in the first threaded hole 8-1 and the second threaded hole 21-1, and a movable nut with internal threads matching the screw is placed therein.

[0043] Reference Fig.12 The connection between the machine head 1 and the machine neck 2 is a fixed connection. The outer shell of the machine head 1 is a one-way light-transmitting material. The one-way light-transmitting material means that the human eye and the visual device cannot see the parts inside the machine head 1. The visual device inside the machine head 1 can see the scene outside the machine head 1. According to actual needs, there are two schemes of one set of visual devices or two sets of visual devices inside the machine head 1. The first bracket 15 and the first motor 28 constitute a first set of rotating mounting brackets, and the second bracket 85 and the thirty-third motor 84 constitute a second set of rotating mounting brackets. The rotation angle of one set of visual device mounting brackets is 360 degrees, and the rotation angle of two sets of visual device mounting brackets is 180 degrees. They do not cross each other. The two sets of visual devices are controlled by two motors respectively. The hole passing through the machine neck 2 is the threading hole 2-1, and its purpose is to allow the connection line between the machine head 1 and the machine trunk 16 to pass through the threading hole 2-1.

[0044] Reference Fig.13The 300-type motor is a whole, which is composed of a 302 motor, a 303 reduction box, a 301 disc, a 304 signal detection circuit and a 306 power gear. The 306 power gear is on one side of the 302 motor in the longitudinal direction. One end of the 302 motor is connected to the 303 reduction box, and the other end is connected to the 301 disc. There is a round hole on the 301 disc, which is the first round hole 305. The 304 signal detection circuit is an infrared transceiver circuit, which detects the infrared that penetrates the first round hole 305 and becomes a counting detection circuit for the number of revolutions of the 302 motor. In actual production, Hall is used. The motor rotation count circuit composed of components has the same effect. If a more accurate motor counting circuit is needed, it is only necessary to evenly add multiple circular holes similar to the first circular hole 305 on the 301 disk. The principle is to detect the number of revolutions of the 302 motor when the component driven by the 302 motor is in the specified position. If the component needs to return to the starting position, it is sufficient to control the number of revolutions of the 302 motor. The third motor 30, the twelfth motor 39, the sixteenth motor 43, the eighteenth motor 45, the twenty-fourth motor 51, the twenty-seventh motor 54 and the thirtieth motor 57 are all 300-type motors.

[0045] The present invention has four types of motors, 300 type, 400 type, 500 type and 600 type, and the working principle is the same as that of the 300 type motor. The power gear of the 400 type motor is on one side of the motor side. The third motor 30, the fifth motor 32, the eighth motor 35, the tenth motor 37, the eleventh motor 38, the twelfth motor 39, the thirteenth motor 40, the fifteenth motor 42, the seventeenth motor 44, the twentieth motor 47, the twenty-second motor 49, the twenty-third motor 50, the twenty-fourth motor 51, the twenty-fifth motor 52, the twenty-sixth motor 53, the twenty-eighth motor 55 and the twenty-ninth motor 56 are all 400 type motors. The power output of the 500 type motor is a push-pull rod. The seventh motor 34, the nineteenth motor 46, the thirty-first motor 68 and the thirty-second motor 69 are all 500 type motors. The power output of the 600 motor is a screw. The ninth motor 36 and the twenty-first motor 48 are all 600 type motors. The internal structure of the joint motor in the prior art is various, and different joint motors are selected according to different robots.

[0046] Reference Fig.14 , a state of the present invention when walking in the first longitudinal direction or the second longitudinal direction, in which the first robot arm 101, the first robot leg 104 and the fourth robot leg 107 are on the same side, the second robot arm 102, the second robot leg 105 and the fourth robot leg 106 are on the same side, or the second robot arm 102, the first robot leg 104 and the fourth robot leg 107 are on the same side, and the first robot arm 101, the second robot leg 105 and the third robot leg 106 are on the same side, similar to the normal movement of the human body.

[0047] Reference Fig.15, another state of the present invention when walking in the first longitudinal direction or the second longitudinal direction, in this state, the machine trunk 16 rotates 90 degrees in any direction, the first machine arm 101 and the first machine leg 104 and the second machine leg 105 are on the same side, the second machine arm 102 and the third machine leg 106 and the fourth machine leg 107 are on the same side, or the second machine arm 102 and the first machine leg 104 and the second machine leg 105 are on the same side, the first machine arm 101 and the third machine leg 106 and the fourth machine leg 107 are on the same side, similar to the upper body of a human body turning 90 degrees, and the lower body moving forward normally.

[0048] In the standing state of the present invention, the distance between the first machine leg 104 and the fourth machine leg 107 decreases, and the distance between the second machine leg 105 and the third machine leg 106 decreases. In the walking state, the distance between the first machine leg 104 and the fourth machine leg 107 increases, and the distance between the second machine leg 105 and the third machine leg 106 increases.

[0049] Reference Fig.16 The sequence of the machine legs in the longitudinal walking state of the present invention is: ① standing state, ② the third machine leg 106 moves forward one step, ③ the second machine leg 105 and the fourth machine leg 107 move forward one step at the same time or successively, the second machine leg 27 and the third machine leg 62 approach each other, ④ the first machine leg 101 and the third machine leg 106 move forward one step at the same time or successively, and the cycle continues.

[0050] Reference Fig.17 The control sequence of the machine legs in the 90-degree turning state of the present invention is: ① standing state, ② the first machine leg 101 and the third machine leg 106 are lifted up simultaneously or successively, after the first machine leg 101 and the third machine leg 106 are lifted up, the twenty-fourth motor 51 and the thirtieth motor 57 start to rotate, control the second machine leg 102 and the fourth machine leg 107 to rotate 90 degrees, and the second machine foot 27 and the fourth machine foot 67 remain stationary, ③ the first machine leg 101 and the third machine leg 106 fall down, the first machine foot 14 and the third machine foot 62 land on the ground, ④ the second machine leg 102 and the fourth machine leg 107 are lifted up, and after lifting up, the twenty-fourth motor 51 and the thirtieth motor 57 start to rotate, control the second machine foot 27 and the fourth machine foot 67 to rotate 90 degrees, ⑤ the second machine leg 102 and the fourth machine leg 107 fall down, and the second machine foot 27 and the fourth machine foot 67 land on the ground, completing the 90-degree turn.

[0051] Reference Fig.18The control sequence of the four machine legs in the stair climbing state of the present invention is: from the beginning to the end of stair climbing, one of the four machine legs must be raised while the other three machine legs are on the ground, which is different from the walking state in which two machine legs are raised while the other two machine legs are on the ground, ① standing state, ② the third machine leg 106 and the fourth machine leg 107 successively climb the second step of the stairs, ③ the first machine leg 104 and the second machine leg 105 successively move forward and land at the positions of the third machine leg 106 and the fourth machine leg 107 respectively, ④ the third machine leg 106 and the fourth machine leg 107 successively climb the third step of the stairs, ⑤ the first machine leg 104 and the second machine leg 105 successively climb the second step of the stairs, and the cycle is repeated in sequence to complete the purpose of climbing the stairs. The above method is only limited to stairs with a small stair spacing, and stairs with a large spacing can be climbed directly in sequence.

[0052] Reference Fig.19 The control sequence of the four machine legs in the stair-going state of the present invention is: from the beginning to the end of stair-going, one of the four machine legs must be raised while the other three machine legs are on the ground, which is different from the walking state in which two machine legs are raised while the other two machine legs are on the ground, ① standing state, ② the third machine leg 106 and the fourth machine leg 107 go down the second step of the stairs in turn, ③ the first machine leg 104 and the second machine leg 105 move forward in turn and land at the positions of the third machine leg 106 and the fourth machine leg 107 respectively, ④ the third machine leg 106 and the fourth machine leg 107 go down the third step of the stairs in turn, ⑤ the first machine leg 104 and the second machine leg 105 go down the second step of the stairs in turn, and the cycle is repeated in sequence to complete the purpose of going down the stairs. The above method is only limited to stairs with a small stair spacing, and stairs with a large spacing can be directly gone down in sequence.

[0053] According to the above, the present invention is a robot's mechanical structure and driving structure. There are various ways to control the robot's actions. Simple ones include remote control circuit control and programming circuit control, which can only complete simple actions. If complex actions need to be completed, artificial intelligence circuit control must be used to complete complex actions.

[0054] The machine head 1 in the present invention is compared with the machine head of the existing robot: the machine head of the existing robot has a joint between the machine head and the machine neck, which can be controlled to rotate within a set range, but cannot rotate 360 ​​degrees, and can only see the scene in front. Within the rotation range of the machine head, there is still a visual blind spot. If you want to see the scenes on the left, right and back, you must turn around. It is suitable for general applications, but has practical disadvantages in security occasions and important occasions. The machine head 1 in the present invention is fixed on the machine neck 2, and can only rely on the neck-shoulder joint 201 between the machine neck 2 and the machine trunk 16 to make Z-axial rotation. The shell of the machine head 1 is made of one-way light-transmitting material. One-way light transmission means that the visual device in the machine head 1 can see the scene outside the machine head 1, and the external human eyes and visual devices cannot see the internal components of the machine head 1. The visual range of the visual device in the machine head 1 is 360 degrees, and the outside cannot judge the visible direction of the visual device in the machine head 1. It is very practical in security occasions and other important occasions.

[0055] The robot arms in the present invention are compared with those of existing robots: the existing robots have two robot arms, which can perform work in ordinary positions, but have disadvantages in working in special positions. The present invention has three robot arms, in addition to the first robot arm 101 and the second robot arm 102, there is also a third robot arm 103. The first robot arm 101 and the second robot arm 102 have the same structure and the same installation position as the robot arms of the existing robot. The third robot arm 103 is installed at the chest position of the machine trunk 16. When not in use, it is controlled by a motor to retract into the chest of the machine trunk 16. When in use, it is extended from the chest of the machine trunk 16, that is, it can extend to the first longitudinal side and the second longitudinal side. According to different occasions, trays, tools, etc. are installed on the extended robot fork arm. The robot with the third robot arm 103 added can better perform work in special positions.

[0056] The rotation angle of the machine trunk 16 at the robot waist position in the present invention is compared with the rotation angle of the existing robot trunk at the robot waist position: the rotation angle of the existing robot trunk at the robot waist position cannot reach 360 degrees, and can only rotate a certain angle to the first side or the second side. If the two robot arms are required to work on the two sides respectively, the turning of the machine trunk at the waist can no longer meet the requirements, and can only rely on the two machine legs to assist in turning to meet the requirements. In the present invention, the rotation angle of the machine trunk 16 at the robot waist joint 207 is 360 degrees, and it can stay at any angle position. If the robot is required to complete work on different sides, the machine trunk 16 can be directly rotated at the waist position. Such a structure takes less time during the turning process of the machine trunk 16, especially when the robot is walking, it can turn while walking.

[0057] The robot legs in the present invention are compared with the robot legs of existing robots: the existing robots have two robot legs, and when the robot is walking, one robot leg is on the ground and the other robot leg is lifted up, and the purpose of walking is achieved in a cycle. Due to the reasons of the prior art, the existing robots are better at walking on flat roads, especially in occasions with complex roads, and technical problems such as balance and load-bearing have failed to achieve practical effects. The present invention has four robot legs with the same structure, and when walking, two robot legs are on the ground and the other two robot legs are lifted up, and the purpose of walking is achieved in a cycle. It is especially suitable for occasions with complex roads, because there are always two robot legs on the ground, which is beneficial to walking balance and load-bearing.

[0058] The first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth, twentieth, twenty-first, twenty-second, twenty-third, twenty-fourth, twenty-fifth, twenty-sixth, twenty-seventh, twenty-eighth, twenty-ninth, thirtieth, thirty-first, thirty-second and thirty-third mentioned in the present invention are aliases for certain components or parts and have no other meanings.

[0059] The present invention is similar to some actions of humans. The robot neck 2 rotates with the cervical vertebrae joint 201, corresponding to the nodding action of humans. The actions completed by the first robot arm 101 and the second robot arm 102 correspond to the actions completed by the two arms of humans. The robot trunk 16 rotates with the chest joint 204 toward the first longitudinal side or the second longitudinal side, corresponding to the bending action of humans. The robot trunk 16 rotates with the waist joint 207, corresponding to the waist turning action of humans. The first robot leg 104 and the fourth robot leg 107 are separated into a straight line, and the second robot leg 105 and the third robot leg 106 are separated into a straight line, corresponding to the split-leg action of humans. The distance between the first robot leg 104 and the fourth robot leg 107 and the second robot leg 105 and the third robot leg 106 is lengthened, corresponding to the cross-leg action of humans. The 90-degree turn corresponds to the change of humans from moving forward to walking left or right. Since the first longitudinal side and the second longitudinal side are both frontal, the first longitudinal walking and the second longitudinal walking correspond to the forward walking of humans.

[0060] There are four differences between the present invention and the existing robots: one is that the machine head 1 is fixed on the machine neck 2, and the shell of the machine head 1 uses a one-way light-transmitting material. The one-way light-transmitting material means that the visual device inside the machine head 1 can see the external scene, and the external human eye and visual device cannot see the internal components. The second is that there are three machine arms, one of which is located at the chest position of the machine trunk 16, which is retracted when not in use and extended when in use. The third is that the machine trunk 16 can rotate 360 ​​degrees at the waist joint position to complete work in different directions. There are four machine legs with the same structure. During walking, two machine legs fall to the ground and the other two machine legs are lifted up, and the cycle is repeated in sequence to achieve the purpose of walking, which is beneficial to walking balance and load-bearing.

Claims

1. The humanoid quadruped robot has two robot arms with the same structure and installation position as the robot arms of the existing robot. In the present invention, they are described by the first robot arm and the second robot arm. In the description of the existing robot, there are four different sides, namely, the front, the back, the left and the right. There are two different walking directions, namely, forward and backward. There are two states, namely, left turn and right turn, during the walking process. Since the corresponding sides are the same in the present invention, they cannot be described by the front, the back, the left and the right. Therefore, in the present invention, the first longitudinal side, the second longitudinal side, the first lateral side and the second lateral side are used to describe the four different sides of the robot. The first longitudinal walking and the second longitudinal walking are used to describe the two different walking directions. A 90-degree turn is used to describe the two states during the walking process. The side on one side of the first robot arm is the first lateral side, the side on one side of the second robot arm is the second lateral side, and the two sides without the robot arm are the first longitudinal side and the second longitudinal side, respectively. Walking with the first longitudinal side in front is the first longitudinal walking, and walking with the second longitudinal side in front is the second longitudinal walking. Since the rotation directions of the robot joints are different, the present invention uses the X-axis, Y-axis and Z-axis to describe three different rotation directions respectively, the X-axis refers to the horizontal rotation, the Y-axis refers to the rotation toward the first lateral direction and the second lateral direction, and the Z-axis refers to the rotation toward the first longitudinal direction and the second longitudinal direction; Its characteristics are The humanoid quadruped robot has four machine legs with the same structure, the four machine legs are respectively a first machine leg (104), a second machine leg (105), a third machine leg (106) and a fourth machine leg (107), the first machine leg (104) and the fourth machine leg (107) are on a first lateral side, the second machine leg (105) and the third machine leg (106) are on a second lateral side, each machine leg is composed of a machine thigh, a machine shank, a machine foot, an ankle joint, a compression spring and auxiliary components, and a pressure sensor, a control spring, a pressure control component and a joint motor are arranged inside the machine shank; The hip joint of the first machine leg (104) and the hip joint of the fourth machine leg (107) are on the same axis, which is the first Z-axis hip joint axis (8); the hip joint of the second machine leg (105) and the hip joint of the third machine leg (106) are on the same axis, which is the second Z-axis hip joint axis (21); the first Z-axis hip joint axis (8) and the second Z-axis hip joint axis (21) are connected to the thoracolumbar hip joint component (22) on an axis, which is the Y-axis hip joint axis (9); the two ends of the Y-axis hip joint axis (9) are respectively fixed on the first longitudinal side surface and the second longitudinal side surface of the thoracolumbar hip joint component (22); the axis thereof is respectively perpendicular to the first longitudinal side surface and the second longitudinal side surface; the connection joint between the first Z-axis hip joint axis (8) and the Y-axis hip joint axis is the first Y-axis hip joint; and the connection joint between the second Z-axis hip joint axis (21) and the Y-axis hip joint axis (9) is the second Y-axis hip joint; The connection between the machine calf and the machine foot is an ankle joint. One end of the ankle joint is connected to the machine calf through an ankle joint, which is controlled by a motor. The other end of the ankle joint is connected to the machine foot through an ankle connection joint, which is not controlled by a motor and only serves as a connection. There is a compression spring on the ankle joint, which serves as a buffer between the machine foot and the machine calf. The ankle joint inside the machine calf controls a pressure control component, which controls a pressure sensor through a control spring. The detection signal output by the pressure sensor and the detection signals output by the other three pressure sensors enter a signal comparison circuit together to detect the stress condition of each machine leg. In addition to the first robot arm (101) and the second robot arm (102), there is another robot arm, namely a third robot arm (103). The third robot arm (103) is located at the chest of the robot trunk (16). When not in use, the third robot arm (103) is retracted into the chest of the robot trunk (16). When in use, the third robot arm (103) is extended. The extension direction can be extended in the first longitudinal side direction or in the second longitudinal side direction according to requirements. When the robot is in a standing state, the axis of the first Z-axis toward the hip joint axis (8) and the axis of the second Z-axis toward the hip joint axis (21) are on the same axis; when the robot is in a longitudinal walking state, the walking tracks of the first machine leg (104) and the fourth machine leg (107) are on the same track, and the walking tracks of the second machine leg (105) and the third machine leg (106) are on the same track; The machine head (1) is fixed on the machine neck (2), and the machine neck 2 is connected to the shoulder of the machine trunk 16. The connecting joint therebetween is a neck-shoulder joint (201), and the neck-shoulder joint (201) is a Z-axis joint. The outer shell of the machine head (1) is made of a one-way light-transmitting material. The one-way light-transmitting material means that the visual device inside can see the entire scene outside through the outer shell, and the human eye and the visual device cannot see the internal components of the machine head (1) through the outer shell. Two rotating brackets are installed inside the machine head (1), and the two brackets are respectively controlled by two motors. The rotation angle of each bracket is 180 degrees. The two brackets do not cross each other. The visual device and multiple sensors with different functions are respectively installed on the two brackets. The connecting joint between the thoracolumbar hip joint component (22) and the chest of the machine trunk (16) is a thoracolumbar hip joint component (204). The thoracolumbar hip joint component (204) is formed by connecting a spherical portion (22-1) on the thoracolumbar hip joint component (22) and a concave portion on the chest of the machine trunk (16). The thoracolumbar joint component (204) is a joint capable of rotating in the Y-axis direction and the Z-axis direction. The waist joint component (207) is formed by rotating the waist joint component (7) by placing the waist joint circular hole (7-2) on the waist joint component (7) on a step on the thoracolumbar hip joint component (22). The rotation angle range of the waist joint (207) is 360 degrees. The waist joint (207) is a joint capable of rotating in the X-axis direction. The connection between the waist joint component (7) and the machine trunk (16) is a plurality of electric telescopic devices, preferably four.

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