Humanoid robot and morphology switching control method

Abstract

The present invention discloses a humanoid robot and a form switching control method, which relate to the field of robot technology, wherein the humanoid robot includes: a thigh; a calf, which is hinged to the thigh; wherein the thigh and the calf are both provided with wheeled feet, and the wheeled feet include an adjustment component and a wheeled walking component, and the wheeled walking component is connected to the thigh and / or the calf through the adjustment component, and is used to adjust the relative position relationship between the wheeled walking component and the thigh and the calf through the adjustment component, so that the wheeled walking component can replace the thigh and / or the calf to bear the weight of the humanoid robot; the humanoid robot and the form switching control method can realize rapid switching between human-foot walking mode, two-wheeled foot walking mode and four-wheeled foot walking mode.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and more particularly to a humanoid robot and a form switching control method. Background Art

[0002] The walking modes of humanoid robots are mainly divided into human foot walking mode and wheel foot walking mode;

[0003] Wheeled robots are a relatively traditional mobile robot configuration. Their simple dynamics, high stability, and high energy efficiency make them widely used in today's society. Compared to bipedal robots, wheeled robots are technologically mature, highly reliable, and have lower energy consumption. They offer high-speed traversal and low energy consumption on structured terrain.

[0004] Robots with human-foot walking mode can handle complex road surfaces, especially crossing stairs, which is difficult for wheeled robots to do, but the overall energy consumption is relatively high;

[0005] Therefore, in the prior art, there have emerged multi-mode humanoid robots that have both wheel-foot mode and human-foot mode. However, the multi-mode humanoid robots in the prior art are complicated to operate when switching between modes, and when switching to wheel-foot mode, the lower limbs or upper limbs are required to serve as load-bearing modules, which means that the robot loses the ability to perform other actions.

[0006] In the prior art, there is also a method of converting the wheel-foot mode to the human-foot mode by locking and rotating the wheel-foot. This requires that the walking wheels must be set at the ends of the upper and lower limb arms. Therefore, the joints of the fingers, toes, etc. are lost, resulting in functional loss.

[0007] In summary, how to solve the problem of complex mode switching operations and functional loss of multi-mode humanoid robots is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0008] In view of this, the purpose of the present invention is to provide a humanoid robot, which realizes the switching of the human foot walking mode, the two-wheel foot walking mode and the four-wheel foot walking mode by arranging wheel feet on the thigh and calf respectively, and changing the load-bearing state of the wheeled walking components in the wheel feet at the corresponding positions. After the switching, the functionality of the upper limb arms is not affected, and the setting of the fingers and toes is not affected as a whole, thereby avoiding the loss of functionality of the robot.

[0009] Another object of the present invention is to provide a morphology switching control method for the above-mentioned humanoid robot, which can quickly realize the robot's walking mode switching.

[0010] In order to achieve the above object, the present invention provides the following technical solutions:

[0011] A humanoid robot comprising:

[0012] Thigh;

[0013] a calf portion hinged to the thigh portion;

[0014] Wherein, the thigh and the calf are both provided with wheeled feet, and the wheeled feet include an adjustment assembly and a wheeled walking assembly. The wheeled walking assembly is connected to the thigh and / or the calf via the adjustment assembly, and is used to adjust the relative positional relationship between the wheeled walking assembly and the thigh and the calf via the adjustment assembly, so that the wheeled walking assembly can replace the thigh and / or the calf to bear the weight of the humanoid robot;

[0015] When several groups of the running wheel assemblies are in a load-bearing state, the projection of the center of gravity of the humanoid robot in the vertical direction is within the range of the line connecting all the running wheel assemblies for bearing the load.

[0016] Preferably, the adjustment assembly includes a rocker arm;

[0017] One end of the swing rod is connected to the thigh or the calf via a first motor, for driving the swing rod to swing relative to the thigh or the calf, and the other end of the swing rod is fixedly mounted to the wheeled walking assembly;

[0018] When the first motor drives the rocker arm and the thigh and / or the calf to rotate relative to a preset angle, the wheeled walking assembly can replace the thigh and / or the calf to bear the weight of the humanoid robot.

[0019] Preferably, the adjustment assembly comprises an upper leg rod and a lower leg rod hinged to each other;

[0020] An angle adjustment component is provided between the upper leg rod and the lower leg rod;

[0021] The upper leg rod is connected to the thigh or the calf via a first motor, and is used to drive the upper leg rod and the thigh or the calf to swing relative to each other;

[0022] The lower leg rod is fixedly connected to the walking wheel assembly;

[0023] When the first motor drives the upper leg rod to rotate to a preset angle, and the angle adjustment component drives the angle between the upper leg rod and the lower leg rod to reach a second preset angle, the wheeled walking component can replace the thigh and / or the calf to bear the weight of the humanoid robot.

[0024] Preferably, the angle adjustment assembly includes a second motor and an adjustment connecting rod;

[0025] A connecting rod is vertically provided at the output shaft end of the second motor, for driving the connecting rod to swing relative to the second motor;

[0026] The connecting rod, the adjusting link, the lower leg rod and the upper leg rod are hinged in sequence to form a four-bar linkage;

[0027] The second motor is fixedly arranged relative to the first motor, and their axes overlap.

[0028] Preferably, the connecting rod is an eccentric wheel disc, and the adjusting connecting rod is hinged to the long diameter end of the eccentric wheel disc;

[0029] A limiting block is provided on the outside of the eccentric wheel disc and is fixedly arranged relative to the second motor, so as to limit the rotation angle of the eccentric wheel disc.

[0030] Preferably, the adjustment assembly includes a mounting plate;

[0031] The mounting plate is slidably mounted on the thigh or the calf via a slide rail assembly, and the wheeled walking assembly is fixedly connected to the mounting plate;

[0032] A telescopic push rod is provided between the mounting plate and the thigh or the calf, for driving the mounting plate and the wheeled walking assembly to move relative to the thigh or the calf along the guide direction of the slide rail assembly;

[0033] When the mounting plate and the wheeled walking assembly move to a preset stroke relative to the thigh or the calf, the wheeled walking assembly can replace the thigh and / or the calf to bear the weight of the humanoid robot.

[0034] Preferably, a third motor is provided in the mounting plate, and the wheeled traveling assembly is fixedly connected to the output shaft of the third motor, so as to drive the wheeled traveling assembly to change the traveling direction through the third motor.

[0035] Preferably, at least two groups of the wheeled traveling components are traveling wheels driven by hub motors.

[0036] Preferably, a locking assembly is provided between the wheel foot and the correspondingly installed thigh or calf, for fixing the walking wheel assembly in a non-load-bearing state to the correspondingly installed thigh or calf.

[0037] Preferably, the humanoid robot further comprises an upper torso and auxiliary pads, wherein the auxiliary pads comprise a head pad, a back pad and a seat pad;

[0038] The head pad and the back pad are both fixedly connected to the front surface of the upper torso;

[0039] The seat cushion includes independent pads fixedly connected to the left and right thighs respectively.

[0040] A morphology switching control method, applied to any of the above-mentioned humanoid robots, comprises the steps of:

[0041] Determining, by a host computer, whether the humanoid robot needs to execute a human foot walking mode;

[0042] If yes, control the adjustment assembly to adjust all the wheeled traveling assemblies to a non-load-bearing state;

[0043] If not, the host computer determines whether the humanoid robot needs to execute the two-wheeled walking mode;

[0044] If yes, control the adjustment component to adjust the wheeled walking component corresponding to the calf to be in a load-bearing state, and adjust the wheeled walking component corresponding to the thigh to be in a non-load-bearing state;

[0045] If not, the host computer determines whether the humanoid robot needs to execute the four-wheeled walking mode;

[0046] If yes, the adjusting assembly is controlled to adjust all the wheeled traveling assemblies to be in a load-bearing state.

[0047] Compared with the prior art, the humanoid robot provided by the present invention has at least the following beneficial effects:

[0048] 1. By arranging wheel feet on the thigh and calf respectively, and adjusting the relative position of the wheeled walking assembly and the corresponding thigh or calf through the adjustment component, the load-bearing state of the wheel feet at different positions can be adjusted, thereby adjusting the walking mode of the humanoid robot. The overall structure is simple, and the control logic and operation of the mode switching are simple, which is easy to implement.

[0049] 2. At the same time, the wheeled walking components are set on the lower limbs, and switching walking modes has less impact on the upper limbs, avoiding functional loss.

[0050] 3. The wheel foot adopts an adjustment component to connect the wheeled walking component with the thigh or calf, avoiding setting the wheeled walking component at the end of the lower limb or upper limb, thereby not affecting the installation of the fingers and toes, and avoiding functional loss.

[0051] The morphology switching control method provided by the present invention is applied to the above-mentioned humanoid robot and can quickly realize the walking mode switching of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0053] Figure 1 This is a schematic structural diagram of the humanoid robot provided by the present invention in the human foot walking mode;

[0054] Figure 2 This is a schematic structural diagram of the humanoid robot provided by the present invention in a two-wheeled walking mode;

[0055] Figure 3 This is a schematic structural diagram of a first embodiment of the humanoid robot provided by the present invention in a four-wheeled walking mode;

[0056] Figure 4 This is a schematic structural diagram of a first embodiment of the wheel foot provided by the present invention;

[0057] Figure 5 This is a schematic structural diagram of a second embodiment of the humanoid robot provided by the present invention in a four-wheeled walking mode;

[0058] Figure 6 This is a schematic structural diagram of a second embodiment of the wheel foot provided by the present invention;

[0059] Figure 7 This is a schematic structural diagram of a third embodiment of the humanoid robot provided by the present invention in a four-wheeled walking mode;

[0060] Figure 8 This is a schematic structural diagram of a third embodiment of the wheel foot provided by the present invention;

[0061] Figure 9 This is a schematic structural diagram of a fourth embodiment of the humanoid robot provided by the present invention in a four-wheeled walking mode;

[0062] Figure 10 This is a schematic structural diagram of a fourth embodiment of the wheel foot provided by the present invention.

[0063] In the picture:

[0064] 1. Thigh;

[0065] 2. Wheel foot; 211. First motor; 212. Second motor; 213. Upper leg rod; 214. Lower leg rod; 215. Adjusting link; 216. Eccentric wheel disc; 217. Stop block; 218. First travel wheel; 219. Rocker arm; 220. Telescopic push rod; 221. Slide rail assembly; 222. Universal wheel; 223. Mounting plate; 224. Second travel wheel; 225. Third motor; 226. Reducer;

[0066] 3. Calf;

[0067] 4. Auxiliary pad; 41. Head pad; 42. Back pad; 43. Seat cushion;

[0068] 5. Locking assembly. DETAILED DESCRIPTION

[0069] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0070] The core of the present invention is to provide a humanoid robot, which realizes the switching of the human foot walking mode, the two-wheel foot walking mode and the four-wheel foot walking mode by respectively arranging wheel feet on the thigh and the calf, and changing the load-bearing state of the wheeled walking components in the wheel feet at the corresponding positions. After the switching, the functionality of the upper limb arms is not affected, and the overall setting of the fingers and toes is not affected, thereby avoiding the loss of functionality of the robot.

[0071] Another core of the present invention is to provide a morphology switching control method for the above-mentioned humanoid robot, which can quickly realize the robot's walking mode switching.

[0072] Please refer to Figure 1 、 Figure 2 and Figure 3 As shown, a humanoid robot comprises:

[0073] Thigh 1;

[0074] The calf portion 3 is hinged to the thigh portion 1;

[0075] The thigh 1 and the calf 3 are both provided with a wheeled foot 2. The wheeled foot 2 includes an adjustment assembly and a wheeled walking assembly. The wheeled walking assembly is connected to the thigh 1 and / or the calf 3 via the adjustment assembly. The relative position of the wheeled walking assembly, the thigh 1 and the calf 3 is adjusted by the adjustment assembly, so that the wheeled walking assembly can replace the thigh 1 and / or the calf 3 to bear the weight of the humanoid robot.

[0076] When the plurality of sets of running wheel assemblies are in a load-bearing state, the projection of the center of gravity of the humanoid robot in the vertical direction is within the range of the line connecting all the running wheel assemblies for bearing the load.

[0077] like Figure 1 、 Figure 2 and Figure 3 As shown, by providing wheeled feet 2 on both the thigh 1 and the calf 3, the humanoid robot has a human foot walking mode, a two-wheeled foot walking mode, and a four-wheeled foot walking mode, and when switching between the two-wheeled foot walking mode and the four-wheeled foot walking mode, the functionality of the upper limbs will not be lost;

[0078] At the same time, the wheeled walking component in the wheel foot 2 is installed and connected to the thigh 1 or the calf 3 through the adjustment component, thus solving the functional loss of fingers and toes caused by setting the wheeled walking component at the end of the upper limb arm or lower limb arm.

[0079] Moreover, when switching modes, it is only necessary to control the adjustment component to change the relative position relationship between the wheeled walking component and the corresponding thigh 1 or calf 3, so as to change the load-bearing state of the wheeled walking component and realize the switching of the walking mode, simplifying the control logic and structure and facilitating implementation.

[0080] like Figure 2 and Figure 3 As shown, when the vehicle is converted into a two-wheeled walking mode or a four-wheeled walking mode, the movement of the upper limbs is not affected, which facilitates the realization of the carrying function.

[0081] like Figure 3 As shown, when converted to a four-wheeled walking mode, the whole vehicle takes the form of a seat, which helps to transfer injured and sick people and can be used in medical and elderly care scenarios such as hospitals and nursing homes.

[0082] In some embodiments, the adjustment assembly includes a rocker 219;

[0083] One end of the swing rod 219 is connected to the thigh 1 or the calf 3 via the first motor 211, and is used to drive the swing rod 219 to swing relative to the thigh 1 or the calf 3. The other end of the swing rod 219 is fixedly mounted to the wheeled walking assembly.

[0084] When the first motor 211 drives the rocker arm 219 to rotate relative to the thigh 1 and / or the calf 3 to a preset angle, the wheeled walking assembly can replace the thigh 1 and / or the calf 3 to bear the weight of the humanoid robot.

[0085] like Figure 5As shown, the first motor 211 is fixedly installed on the thigh 1, and the first motor 211 drives the rocker arm 219 to swing to adjust the relative position of the first walking wheel 218 and the thigh 1. When the humanoid robot is in a sitting position, the rocker arm 219 is driven to a vertical state, and at this time the first walking wheel 218 is grounded and in a load-bearing state.

[0086] Similarly, installing the wheel foot portion 2 of this structure on the calf portion 3 can also achieve the same effect.

[0087] In some embodiments, the adjustment assembly includes an upper leg rod 213 and a lower leg rod 214 that are hinged to each other;

[0088] An angle adjustment component is provided between the upper leg rod 213 and the lower leg rod 214;

[0089] The upper leg rod 213 is connected to the thigh 1 or the calf 3 via the first motor 211, and is used to drive the upper leg rod 213 and the thigh 1 or the calf 3 to swing relative to each other;

[0090] The lower leg rod 214 is fixedly connected to the walking wheel assembly;

[0091] When the first motor 211 drives the upper leg rod 213 to rotate to a preset angle, and the angle adjustment component drives the angle between the upper leg rod 213 and the lower leg rod 214 to reach a second preset angle, the wheeled walking component can replace the thigh 1 and / or calf 3 to bear the weight of the humanoid robot.

[0092] like Figure 3 and Figure 4 As shown, the adjustment assembly adopts a design of hinged connection between the upper leg rod 213 and the lower leg rod 214, so that the middle part of the adjustment assembly can be bent, that is, the distance between the connection point between the wheeled walking assembly and the adjustment assembly and the corresponding thigh 1 or calf 3 can be adjusted, that is, the support height of the wheel foot 2 can be adjusted, as shown in FIG. Figure 3 As shown, when the humanoid robot switches to the four-wheeled walking mode, the wheeled walking components of the four wheeled feet 2 are all in a load-bearing state. Figure 4 As shown, the first running wheel 218 driven by the hub motor is preferably used, and the steering is achieved by the speed difference between the left and right first running wheels 218;

[0093] During walking, the angle between the upper leg rod 213 and the lower leg rod 214 is adjusted through the angle adjustment component to change the support height of the wheel foot 2 to adapt to the needs of different usage scenarios. At the same time, when passing through bumpy sections, the dynamic adjustment of the angle between the upper leg rod 213 and the lower leg rod 214 can imitate the angle change between the human thigh and calf, thereby achieving a shock-absorbing effect.

[0094] In some embodiments, the angle adjustment assembly includes a second motor 212 and an adjustment link 215;

[0095] A connecting rod is vertically provided at the output shaft end of the second motor 212 for driving the connecting rod to swing relative to the second motor 212;

[0096] The connecting rod, the adjusting link 215, the lower leg rod 214 and the upper leg rod 213 are hinged in sequence to form a four-bar linkage;

[0097] The second motor 212 and the first motor 211 are fixedly arranged relative to each other and their axes overlap.

[0098] like Figure 4 As shown, the angle adjustment component adopts a four-bar structure, which provides power input through the second motor 212, and then transmits power through the connecting rod and the adjustment link 215 to drive the lower leg rod 214 to swing relative to the upper leg rod 213, thereby realizing the angle adjustment between the upper leg rod 213 and the lower leg rod 214. At the same time, the four-bar structure is adopted to help improve the plane constraint of the upper leg rod 213 and the lower leg rod 214, so that their relative movement is always in a fixed plane, thereby ensuring the overall stability.

[0099] In some embodiments, the connecting rod is an eccentric wheel disc 216, and the adjusting link 215 is hinged to the long diameter end of the eccentric wheel disc 216;

[0100] A limiting block 217 is provided on the outside of the eccentric wheel disc 216 and is fixedly arranged relative to the second motor 212 to limit the rotation angle of the eccentric wheel disc 216.

[0101] like Figure 4 As shown, by setting the connecting rod as an eccentric wheel disc 216 and combining the limit block 217 to limit the maximum rotation angle of the eccentric wheel disc 216, the angle adjustment range between the upper leg rod 213 and the lower leg rod 214 is limited, and when the angle between the upper leg rod 213 and the lower leg rod 214 is adjusted to the end point, the limit block 217 can forcibly limit the eccentric wheel disc 216, thereby ensuring that the angle between the upper leg rod 213 and the lower leg rod 214 is fixed, that is, the load-bearing capacity of the adjustment assembly is improved;

[0102] At the same time, by adopting a coaxial fixed arrangement of the first motor 211 and the second motor 212, the first motor 211 and the second motor 212 can be arranged at the connection position between the adjustment component and the corresponding installed thigh 1 or calf 3, that is, the weight is placed at the joint position, reducing the adjustment resistance of the adjustment component and thereby reducing energy consumption.

[0103] In some embodiments, the adjustment assembly includes a mounting plate 223;

[0104] The mounting plate 223 is slidably mounted on the thigh 1 or the calf 3 via the slide rail assembly 221, and the wheeled walking assembly is fixedly connected to the mounting plate 223;

[0105] A telescopic push rod 220 is provided between the mounting plate 223 and the thigh portion 1 or the calf portion 3, for driving the mounting plate 223 and the wheeled walking assembly to move relative to the thigh portion 1 or the calf portion 3 along the guide direction of the slide rail assembly 221;

[0106] When the mounting plate 223 and the wheeled walking assembly move to a preset stroke relative to the thigh 1 or the calf 3 , the wheeled walking assembly can replace the thigh 1 and / or the calf 3 to bear the weight of the humanoid robot.

[0107] like Figure 5 and Figure 6 As shown, the adjustment component is connected in a sliding installation manner with the corresponding thigh 1 or calf 3, and the mounting plate 223 is pushed out or retracted by the telescopic push rod 220 to change the load-bearing state of the wheeled walking component installed on the mounting plate 223. During installation, generally only the calf 3 is equipped with a sliding mounting plate 223, and the relative sliding direction of the mounting plate 223 and the calf 3 is consistent with the length direction of the calf 3. Therefore, when the telescopic push rod 220 pushes the mounting plate 223 and the wheeled walking component out, the wheeled walking component can be changed to a load-bearing state. The wheeled walking component here can use a walking wheel driven by a hub motor, a walking wheel in the form of a universal wheel 222, or a second walking wheel 224 with a steering mechanism.

[0108] And during use, if Figure 6 As shown, the mounting plate 223 can be slidably mounted to the side of the calf 3, or can be mounted as shown. Figure 7 and Figure 8 As shown, the mounting plate 223 is slidably mounted to the rear of the calf 3, and the wheeled walking assembly below the mounting plate 223 is transferred to the side of the calf 3 through a transfer rod to reduce the protruding portion on the side of the calf 3, thereby preventing the humanoid robot from scratching surrounding objects during walking.

[0109] In some embodiments, the thigh 1 can also adopt a sliding installation plate 223, but because the thigh 1 is far away from the ground, and it is necessary to ensure that the relative sliding direction of the installation plate 223 and the thigh 1 is perpendicular or there is a large angle with the thigh 1, although the requirement of making the wheeled walking component bear weight can be achieved, its overall space occupancy is large. Therefore, the thigh 1 preferably adopts a rocker arm form or a combination of an upper leg rod 213 and a lower leg rod 214.

[0110] In some embodiments, a third motor 225 is provided in the mounting plate 223 , and the wheeled traveling assembly is fixedly connected to the output shaft of the third motor 225 , so as to drive the wheeled traveling assembly to change the direction of travel through the third motor 225 .

[0111] like Figure 9 and Figure 10As shown, the wheeled walking assembly adopts a second walking wheel 224 equipped with a steering mechanism, wherein the steering mechanism includes a third motor 225 fixed to the mounting plate 223, the mounting seat of the second walking wheel 224 is rotatably mounted on the mounting plate 223, and a power transmission reduction box 226 is provided between the third motor 225 and the installation of the second walking wheel 224, which is used to reduce speed and increase torque to ensure precise control of the steering of the second walking wheel 224.

[0112] In some embodiments, at least two sets of wheeled traveling assemblies are traveling wheels driven by hub motors.

[0113] The use of wheel hub electrically driven walking wheels as the power source for the humanoid robot's wheel-foot mode walking helps to simplify the overall structural design and can achieve overall steering through the speed difference of different walking wheels. When in use, there are at least two groups of driving wheels, which are distributed on both sides of the humanoid robot, preferably distributed on the wheel-foot parts 2 corresponding to the two calves 3, thereby enabling the humanoid robot to have the ability to walk with two wheels, and during the process the humanoid robot can Figure 2 Shown to maintain standing mode;

[0114] In some embodiments, as Figure 3 As shown, the wheeled feet 2 corresponding to the two thighs 1 and the two calves 3 all use the first running wheels 218 driven by the wheel hub motor, that is, all four wheeled walking components have driving capabilities, or only the wheeled feet 2 corresponding to the two calves 3 use the first running wheels 218 driven by the wheel hub motor, while the wheeled feet 2 corresponding to the two thighs 1 use universal wheels 222 or second running wheels 224 with integrated steering mechanisms. Under the above combinations, the humanoid robot has human foot walking mode, two-wheel foot walking mode and four-wheel foot walking mode.

[0115] In some embodiments, such as Figure 5 、 Figure 7 and Figure 9 As shown, the wheel foot parts 2 corresponding to the two calves 3 adopt universal wheels 222 or second walking wheels 224 with integrated steering mechanisms, while the wheel foot parts 2 corresponding to the two thighs 1 adopt first walking wheels 218 driven by hub motors. Placing the driving wheels at the rear will lose the two-wheeled walking mode, but its cost can be significantly reduced, and in the four-wheeled walking mode, it has better directional control capabilities.

[0116] In some embodiments, a locking assembly 5 is provided between the wheel foot 2 and the corresponding thigh 1 or calf 3 for fixing the walking wheel assembly in a non-load-bearing state to the corresponding thigh 1 or calf 3.

[0117] like Figure 5As shown, a detachably connected locking assembly 5, such as a magnetic assembly, a snap assembly, etc., is provided between the surface of the thigh 1 and / or the calf 3 and the wheeled walking assembly. When the wheeled walking assembly is in a non-load-bearing state, the wheeled walking assembly can be relatively fixed to the corresponding installed thigh 1 or calf 3, thereby avoiding the shaking of the wheel foot 2 in the human foot walking mode, thereby ensuring the walking stability of the humanoid robot.

[0118] In some embodiments, locking assemblies 5 are provided at the hinge positions of the thighs 1 and calves 3 on the left and right sides, that is, locking assemblies 5 are provided at the leg joint positions on both sides. When switching to the four-wheeled walking mode, the locking assemblies 5 at the leg joint positions are locked, thereby ensuring that the relative position relationship between the lower limbs on both sides is stable, thereby ensuring their stability during walking.

[0119] In some embodiments, the humanoid robot further includes an upper torso and an auxiliary pad 4 , wherein the auxiliary pad 4 includes a head pad 41 , a back pad 42 , and a seat pad 43 ;

[0120] The head pad 41 and the back pad 42 are both fixedly connected to the front surface of the upper torso;

[0121] The seat cushion 43 includes independent pads fixedly connected to the left and right thighs 1, respectively.

[0122] like Figure 3 As shown, a head pad 41 and a back pad 42 are provided on the front of the upper torso, and an independent seat cushion 43 is provided on the front side of the thigh 1. When the humanoid robot switches to the four-wheeled walking mode, it can be used as a wheelchair to facilitate the transfer of patients with mobility impairments.

[0123] In some embodiments, the auxiliary pad 4 is removed, and an article handling frame is provided at a corresponding position to facilitate the transfer and handling of articles.

[0124] In addition to the humanoid robots disclosed in the above embodiments, the present invention also provides a form switching control method applied to the above humanoid robots, comprising the steps of:

[0125] The host computer determines whether the humanoid robot needs to execute the human foot walking mode;

[0126] If yes, the control adjustment component adjusts all wheeled walking components to a non-load-bearing state;

[0127] If not, the host computer determines whether the humanoid robot needs to execute the two-wheeled walking mode;

[0128] If yes, the control adjustment component adjusts the wheeled walking component corresponding to the calf 3 to be in a load-bearing state, and adjusts the wheeled walking component corresponding to the thigh 1 to be in a non-load-bearing state;

[0129] If not, the host computer determines whether the humanoid robot needs to execute the four-wheeled walking mode;

[0130] If yes, the control adjustment component adjusts all wheeled traveling components to be in a load-bearing state.

[0131] In actual use, depending on the on-site conditions, if there are obstacles such as steps, the robot can be switched to human-foot walking mode; if light items need to be moved quickly and the site is flat, the two-wheeled walking mode is used; if patients need to be transferred or heavy goods need to be moved, and the site is flat, the four-wheeled walking mode is used.

[0132] The humanoid robot automatically switches walking modes through analysis of usage scenarios using algorithms within the robot.

[0133] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0134] The above is a detailed introduction to the humanoid robot and the morphology switching control method provided by the present invention. This article uses specific examples to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A humanoid robot, characterized in that: include: Thigh (1); A calf portion (3) is hingedly connected to the thigh portion (1); Wherein, the thigh (1) and the calf (3) are both provided with a wheeled foot (2), the wheeled foot (2) comprising an adjustment component and a wheeled walking component, the wheeled walking component being connected to the thigh (1) and / or the calf (3) via the adjustment component, and being used for adjusting the relative positional relationship between the wheeled walking component and the correspondingly installed thigh (1) and calf (3) via the adjustment component, so that the wheeled walking component can replace the thigh (1) and / or the calf (3) to bear the weight of the humanoid robot; by changing the load-bearing state of the wheeled walking component in the wheeled foot (2) at the corresponding position, the switching of the humanoid robot between the human foot walking mode, the two-wheeled foot walking mode and the four-wheeled foot walking mode is realized; When several groups of the wheeled walking components are in a load-bearing state, the projection of the center of gravity of the humanoid robot in the vertical direction is within the range of the line connecting all the wheeled walking components for bearing the load.

2. The humanoid robot according to claim 1, wherein: The adjustment assembly includes a rocker (219); One end of the swing rod (219) is connected to the thigh (1) or the calf (3) via a first motor (211) and is used to drive the swing rod (219) to swing relative to the thigh (1) or the calf (3), and the other end of the swing rod (219) is fixedly mounted to the wheeled walking assembly; When the first motor (211) drives the rocker (219) and the thigh (1) and / or the calf (3) to rotate relative to a preset angle, the wheeled walking assembly can replace the thigh (1) and / or the calf (3) to bear the weight of the humanoid robot.

3. The humanoid robot according to claim 1, wherein: The adjustment assembly comprises an upper leg rod (213) and a lower leg rod (214) hinged to each other; An angle adjustment component is provided between the upper leg rod (213) and the lower leg rod (214); The upper leg rod (213) is connected to the thigh (1) or the calf (3) via a first motor (211) and is used to drive the upper leg rod (213) and the thigh (1) or the calf (3) to swing relative to each other; The lower leg rod (214) is fixedly connected to the wheeled walking assembly; When the first motor (211) drives the upper leg rod (213) to rotate to a preset angle, and the angle adjustment component drives the angle between the upper leg rod (213) and the lower leg rod (214) to reach a second preset angle, the wheeled walking component can replace the thigh (1) and / or the calf (3) to bear the weight of the humanoid robot.

4. The humanoid robot according to claim 3, characterized in that: The angle adjustment assembly comprises a second motor (212) and an adjustment connecting rod (215); A connecting rod is vertically arranged at the output shaft end of the second motor (212), and is used to drive the connecting rod to swing relative to the second motor (212); The connecting rod, the adjusting link (215), the lower leg rod (214) and the upper leg rod (213) are hinged in sequence to form a four-bar linkage; The second motor (212) and the first motor (211) are fixedly arranged relative to each other, and their axes overlap.

5. The humanoid robot according to claim 4, characterized in that: The connecting rod is an eccentric wheel disc (216), and the adjusting connecting rod (215) is hinged to the long diameter end of the eccentric wheel disc (216); A limiting block (217) is provided on the outside of the eccentric wheel disc (216) and is fixedly arranged relative to the second motor (212) and is used to limit the rotation angle of the eccentric wheel disc (216).

6. The humanoid robot according to claim 1, wherein: The adjustment assembly includes a mounting plate (223); The mounting plate (223) and the thigh (1) or the calf (3) are slidably mounted via a slide rail assembly (221), and the wheeled walking assembly is fixedly connected to the mounting plate (223); A telescopic push rod (220) is provided between the mounting plate (223) and the thigh (1) or the calf (3), for driving the mounting plate (223) and the wheeled walking assembly to move relative to the thigh (1) or the calf (3) along the guide direction of the slide rail assembly (221); When the mounting plate (223) and the wheeled walking assembly move to a preset stroke relative to the thigh (1) or the calf (3), the wheeled walking assembly can replace the thigh (1) and / or the calf (3) to bear the weight of the humanoid robot.

7. The humanoid robot according to claim 6, characterized in that: A third motor (225) is provided in the mounting plate (223), and the wheeled traveling assembly is fixedly connected to the output shaft of the third motor (225) for driving the wheeled traveling assembly to change the direction of travel via the third motor (225).

8. The humanoid robot according to any one of claims 1 to 7, characterized in that: At least two groups of the wheeled traveling components are traveling wheels driven by hub motors.

9. The humanoid robot according to any one of claims 1 to 7, characterized in that: A locking assembly (5) is provided between the wheel foot portion (2) and the correspondingly installed thigh portion (1) or the calf portion (3), for fixing the wheeled walking assembly in a non-load-bearing state to the correspondingly installed thigh portion (1) or the calf portion (3).

10. The humanoid robot according to any one of claims 1 to 7, characterized in that: It also includes an upper torso and an auxiliary pad (4), wherein the auxiliary pad (4) includes a head pad (41), a back pad (42) and a seat pad (43); The head pad (41) and the back pad (42) are both fixedly connected to the front surface of the upper torso; The seat cushion (43) comprises independent pads fixedly connected to the left and right thighs (1) respectively.

11. A mode switching control method, characterized in that: The humanoid robot according to any one of claims 1 to 10 comprises the steps of: Determining, by a host computer, whether the humanoid robot needs to execute a human foot walking mode; If yes, control the adjustment assembly to adjust all the wheeled traveling assemblies to a non-load-bearing state; If not, the host computer determines whether the humanoid robot needs to execute the two-wheeled walking mode; If yes, the adjustment component is controlled to adjust the wheeled walking component corresponding to the calf (3) to be in a load-bearing state, and to adjust the wheeled walking component corresponding to the thigh (1) to be in a non-load-bearing state; If not, the host computer determines whether the humanoid robot needs to execute the four-wheeled walking mode; If yes, the adjusting assembly is controlled to adjust all the wheeled traveling assemblies to be in a load-bearing state.

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