Soft humanoid robot

Abstract

The invention provides a soft humanoid robot, and relates to the technical field of robots. The soft humanoid robot comprises an inflation mechanism, an adapter plate and two telescopic mechanisms. The air inflation mechanism comprises an air inflation piece and a first air inflation driving piece, the air inflation piece comprises a ball part and two branch parts located on the two sides of the ball part respectively, and the branch parts can be folded in the direction close to the ball part; the bottom of the ball part and the first inflation driving piece are both mounted on the top surface of the adapter plate; the telescopic mechanism comprises a first telescopic air bag assembly and a second telescopic air bag assembly, the first telescopic air bag assembly is rotationally connected with the bottom surface of the adapter plate, the other end of the first telescopic air bag assembly is rotationally connected with the second telescopic air bag assembly, and air bags and second inflation driving parts are arranged in the first telescopic air bag assembly and the second telescopic air bag assembly. The adapter plate plays a role in supporting the inflation mechanism and the two telescopic mechanisms. According to the soft humanoid robot provided by the invention, the technical problems of high cost and low safety of a humanoid robot in the prior art are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a soft humanoid robot. Background Art

[0002] Humanoid robots are currently in a stage of rapid development. The mainstream research direction of current humanoid robots is motor drive, and a robot system supported by rigid structural members is adopted. Since most current humanoid robots use metal materials, carbon fiber materials, and high-performance polymer materials as structural members, the weight of humanoid robots is very heavy. Therefore, to achieve high-performance movement, a higher-power motor drive is required. In addition, an important application of humanoid robots is human-computer interaction, and the safety of human-computer interaction is also an important factor restricting the development of humanoid robots. Humanoid robots generally adopt a rigid structure, and it is very easy to generate safety problems during the interaction with humans. In addition, humanoid robots are designed by imitating the joint structure of humans. The advantage is that they can well integrate into human society, and the human-like appearance also allows humanoid robots to be well accepted by humans. However, compared with other types of robots, such as multi-legged robots or snake-like robots, the human-like design limits the movement ability of humanoid robots within the range of human movement ability. Summary of the Invention

[0003] The purpose of the present invention is to provide a soft humanoid robot to alleviate the technical problems of high cost and low safety of humanoid robots existing in the prior art.

[0004] To solve the above technical problems, the technical solution provided by the present invention is as follows:

[0005] The soft humanoid robot provided by the present invention includes an inflation mechanism, an adapter plate, and two telescopic mechanisms;

[0006] The inflation mechanism includes an inflatable member and a first inflation driving member. The inflatable member includes a spherical portion and two branch portions that are connected to the spherical portion and are respectively located on both sides of the spherical portion. The branch portions can be folded in a direction close to the spherical portion. The first inflation driving member is connected to the spherical portion, and the bottom of the spherical portion and the first inflation driving member are both installed on the top surface of the adapter plate;

[0007] The two telescopic mechanisms are arranged at intervals;

[0008] The telescopic mechanism includes a first telescopic airbag assembly and a second telescopic airbag assembly. The first telescopic airbag assembly is rotatably connected to the bottom surface of the adapter plate, and the other end is rotatably connected to the second telescopic airbag assembly. An airbag and a second inflation driving member are provided in both the first telescopic airbag assembly and the second telescopic airbag assembly, and the second inflation driving member is connected to the airbag.

[0009] Furthermore, both the first telescopic airbag assembly and the second telescopic airbag assembly include an external restraint layer and two connecting members;

[0010] The two connecting members are respectively installed at both ends of the external restraint layer, enclosing a region for accommodating the airbag;

[0011] On the side of the connecting member facing away from the external restraint layer, there is an installation protrusion for rotational connection.

[0012] Furthermore, both the first telescopic airbag assembly and the second telescopic airbag assembly include an elastic contraction rope, a turntable, a first rope, a pulley, and a contraction ring;

[0013] There are two turntables, and the two turntables are respectively in sliding fit with the two connecting members, and the turntable can rotate around the axis of the connecting member;

[0014] The elastic contraction rope is wound around each turntable, and both ends of the elastic contraction rope are respectively connected to the turntable and the connecting member on the same side;

[0015] Both ends of the first rope are respectively wound around the two turntables, and the winding direction is opposite to that of the elastic contraction rope. Pulleys are installed on both connecting members, and the two pulleys cooperate with the first rope to change the direction of the first rope;

[0016] The contraction ring is installed on the outer wall of the external restraint layer.

[0017] Furthermore, there are multiple first ropes, and the multiple first ropes are arranged at intervals along the circumferential direction of the turntable.

[0018] Furthermore, there are multiple contraction rings, and the multiple contraction rings are arranged at intervals along the axial direction of the external restraint layer.

[0019] Furthermore, both the first telescopic airbag assembly and the second telescopic airbag assembly include telescopic guide rails;

[0020] Both ends of the telescopic guide rail are respectively installed on the outer walls of the two connecting members and are telescopic.

[0021] Furthermore, the adapter plate is provided with a convex structure, and the inflation mechanism further includes a second rope. The second rope is wound around the convex structure, and both ends are respectively connected to the ends of the two branches.

[0022] Furthermore, a limiting protrusion is installed on the outer wall of the spherical part, and the second rope passes through the limiting protrusion and is in sliding fit with the limiting protrusion.

[0023] Furthermore, both the first inflation driving member and the second inflation driving member include a conduit, a solenoid valve, and an air pump. The air pump is communicated with the spherical portion or the airbag through the conduit, and the solenoid valve is installed on the conduit.

[0024] Furthermore, the soft humanoid robot further includes feet, a first rotation driving member, a second rotation driving member, and a third rotation driving member. The first rotation driving member is installed on the bottom surface of the adapter plate and is in transmission connection with the first telescopic airbag assembly.

[0025] The second rotation driving member is installed on the bottom surface of the first telescopic airbag assembly and is in transmission connection with the top surface of the second telescopic airbag assembly.

[0026] The third rotation driving member is installed on the feet and is in transmission connection with the bottom surface of the second telescopic airbag assembly.

[0027] Based on the above technical solutions, the technical effects achievable by the present invention are analyzed as follows:

[0028] The soft humanoid robot provided by the present invention includes an inflation mechanism, an adapter plate, and two telescopic mechanisms. The inflation mechanism includes an inflation member and a first inflation driving member. The inflation member includes a spherical portion and two branches that are communicated with the spherical portion and are respectively located on both sides of the spherical portion. The branches can be folded in a direction close to the spherical portion. The first inflation driving member is communicated with the spherical portion, and the bottom of the spherical portion and the first inflation driving member are both installed on the top surface of the adapter plate. The two telescopic mechanisms are arranged at intervals. The telescopic mechanism includes a first telescopic airbag assembly and a second telescopic airbag assembly. The first telescopic airbag assembly is rotatably connected to the bottom surface of the adapter plate, and the other end is rotatably connected to the second telescopic airbag assembly. An airbag and a second inflation driving member are arranged in both the first telescopic airbag assembly and the second telescopic airbag assembly. The second inflation driving member is communicated with the airbag. The adapter plate plays a role in supporting the inflation mechanism and the two telescopic mechanisms.

[0029] The inflation mechanism inflates or deflates the inflation member through the first inflation driving member. Compared with traditional robots, using the inflation member as a structural member of the robot has the advantages of light weight, deformability, and safe human-machine interaction. When the inflation member deflates, the robot can be compressed into a very small volume, which is convenient for transportation and carrying. When the inflation member inflates, it can also have the same functions as traditional robots. Among them, the spherical portion is equivalent to the upper body of the humanoid robot, and the branch is equivalent to the arm of the humanoid robot.

[0030] Both the first telescopic airbag assembly and the second telescopic airbag assembly in the telescopic mechanism include airbags. The airbags can contract and extend longitudinally while maintaining stiffness radially. Compared with traditional robots, using airbags as structural components of robots has the advantages of light weight, deformability, and safe human-robot interaction. The lighter weight reduces the power requirement for the robot's drive. At the same power, the lighter weight enables the robot to have better locomotion ability and maneuverability. Here, the drive refers to the drive structure used to rotate the telescopic mechanism. At the same time, the airbag can change its shape by inflating and deflating it through the second inflation drive. When the airbag deflates, the robot can be compressed into a very small volume, facilitating transportation and portability. When the robot is inflated, it can also have the same functions as traditional robots. In addition, the deformation of the airbag endows the robot with additional degrees of freedom, allowing the robot to have a more flexible locomotion mode. Finally, because the robot uses inflatable structural components, it has natural human-robot interaction safety. Due to the soft characteristics of the airbag, even when the robot collides, it can ensure the safety of the robot and surrounding people or objects. Among them, the telescopic mechanism is equivalent to the legs of a humanoid robot, and the first telescopic airbag assembly and the second telescopic airbag assembly are respectively equivalent to the thighs and calves of a humanoid robot.

[0031] The lighter weight of this soft humanoid robot enables it to be applied in different scenarios. The robot can float on the water surface and swim on the water. The robot can also be carried by a small unmanned aerial vehicle to achieve rapid and precise delivery.

[0032] The telescopic mechanism can broaden the locomotion mode of the robot. The telescoping of the telescopic mechanism can be used as a driving degree of freedom to drive the movement of the robot. When the robot's legs split into a straight line, the robot can achieve creeping forward through the drive of the airbag. Such a locomotion mode is suitable for stable forward movement in complex environments.

[0033] The walking motion of the robot is mainly achieved by the rotational connection between the adapter plate, the first telescopic airbag assembly, and the second telescopic airbag assembly. The specific implementation method is as follows: First, the robot maintains a standing state. Under the control of the drive, it bends its knees and lowers its center of gravity. At this time, the center of gravity of the robot remains between the two legs. Then the motor controls the center of gravity of the robot to shift to one side. Next, the drive controls the leg of the robot away from the center of gravity to lift and move forward, and then put down the leg. Then the drive controls the movement of the center of gravity of the robot back to the middle of the two legs. Repeating the above steps, the robot can achieve walking motion.

[0034] The crawling motion of the robot is achieved through the rotational connection between the adapter plate and the first telescopic airbag assembly and the telescopic cooperation of the airbags. The specific implementation method is as follows: Under the control of the driver, the robot spreads its legs to form a straight line, and all airbags remain in a contracted state. For the convenience of description, we hereby denote the four airbags of the robot as airbag A, airbag B, airbag C, and airbag D. When the robot starts to crawl, airbag A and airbag D are always in a contracted state. First, under the control of the driver, the robot rotates the driver located at the hip joint so that the hip joint touches the ground, and the knee joint and ankle joint leave the ground. Under the control of the second inflation driving member, airbag B is inflated and airbag C is deflated. At this time, airbag A moves forward under the thrust of airbag B, and airbag D moves forward under the pull of airbag C. Then, the motor located at the hip joint is rotated in the reverse direction to make the hip joint leave, and the knee joint and ankle joint touch the ground. Under the control of the second inflation driving member, airbag B is deflated and airbag C is inflated. At this time, the hip joint of the robot moves forward under the pull of airbag B and the thrust of airbag C. Then, the driver of the hip joint is rotated to make the hip joint of the robot return to the ground. By repeating the above steps, the robot can crawl forward or backward.

[0035] The swimming motion of the robot is also mainly achieved through the rotational connection between the adapter plate, the first telescopic airbag assembly, and the second telescopic airbag assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 Structural schematic diagram of the soft humanoid robot provided by the embodiment of the present invention;

[0038] Figure 2 Structural schematic diagram of the first telescopic airbag assembly of the soft humanoid robot provided by the embodiment of the present invention from the first perspective;

[0039] Figure 3 Structural schematic diagram of the first telescopic airbag assembly of the soft humanoid robot provided by the embodiment of the present invention from the second perspective.

[0040] ICON:

[0041] 1 - Inflator; 11 - Second rope;

[0042] 2 - Motor;

[0043] 3 - Telescopic mechanism; 31 - Shrinkage ring; 32 - External restraint layer; 33 - Telescopic guide rail; 34 - First rope; 35 - Pulley; 36 - Elastic shrinkage rope; 37 - Turntable; 38 - Connecting piece;

[0044] 43 - Air pump; 44 - Solenoid valve; 42 - Conduit; 41 - Airbag. Specific implementation mode

[0045] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0047] It should be noted that: similar reference numerals and letters indicate similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0048] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is habitually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0049] In addition, terms such as "horizontal", "vertical", "overhanging", etc. do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0050] In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "arranged", "installed", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] The following will describe in detail some embodiments of the present invention with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0052] At present, humanoid robots are in a stage of rapid development. The mainstream research direction of current humanoid robots is motor drive, and a robot system with rigid structural members as supports is adopted. Since current humanoid robots mostly use metal materials, carbon fiber materials, and high-performance polymer materials as structural members, the weight of humanoid robots is very heavy. Therefore, to achieve high-performance movement, a higher-power motor drive is required. In addition, an important application of humanoid robots is human-computer interaction, and the safety of human-computer interaction is also an important factor restricting the development of humanoid robots at present. Humanoid robots generally adopt a rigid structure and are very prone to safety problems during the interaction with humans. In addition, humanoid robots are designed to imitate the joint structure of humans. The advantage is that they can well integrate into human society, and their human-like appearance also allows humanoid robots to be well accepted by humans. However, compared with other types of robots, such as multi-legged robots or snake-like robots, the human-like design limits the movement ability of humanoid robots within the current range of human movement ability.

[0053] In view of this, referring to Figures 1 to 3 , the soft humanoid robot provided by the embodiment of the present invention includes an inflation mechanism, a transfer board, and two telescopic mechanisms 3. The inflation mechanism includes an inflation member 1 and a first inflation driving member. The inflation member 1 includes a spherical portion and two branch portions that are connected to the spherical portion and are respectively located on both sides of the spherical portion. The branch portions can be folded in a direction close to the spherical portion. The first inflation driving member is connected to the spherical portion, and the bottom of the spherical portion and the first inflation driving member are both installed on the top surface of the transfer board. The two telescopic mechanisms 3 are arranged at intervals. The telescopic mechanism 3 includes a first telescopic airbag assembly and a second telescopic airbag assembly. The first telescopic airbag assembly is rotatably connected to the bottom surface of the transfer board, and the other end is rotatably connected to the second telescopic airbag assembly. An airbag 41 and a second inflation driving member are arranged in both the first telescopic airbag assembly and the second telescopic airbag assembly. The second inflation driving member is connected to the airbag 41. The transfer board serves to support the inflation mechanism and the two telescopic mechanisms 3.

[0054] Specifically, the shape of the spherical part is not limited to a spherical shape and can also be set as a cylindrical shape or an ellipsoidal shape. Additionally, part of the inflation mechanism can be made of other lightweight and soft materials such as instant noodle materials or sponge materials. The airbag 41 can be set in shapes such as spherical, ellipsoidal, or rounded rectangular.

[0055] The inflation mechanism inflates or deflates the inflatable part 1 through the first inflation driving part. Compared with traditional robots, using the inflatable part 1 as a structural part of the robot has the advantages of light weight, deformability, and safe human-robot interaction. When the inflatable part 1 is deflated, the robot can be compressed into a very small volume, which is convenient for transportation and carrying. When the inflatable part 1 is inflated, it can also have the same functions as traditional robots. Among them, the spherical part is equivalent to the upper body of a humanoid robot, and the branch part is equivalent to the arm of a humanoid robot.

[0056] Both the first telescopic airbag assembly and the second telescopic airbag assembly in the telescopic mechanism 3 include the airbag 41. The airbag 41 can contract and extend longitudinally while maintaining stiffness radially. Compared with traditional robots, using the airbag 41 as a structural part of the robot has the advantages of light weight, deformability, and safe human-robot interaction. The lighter weight makes the power requirement of the robot for the driver lower. Under the same power, the lighter weight enables the robot to have better movement ability and maneuverability, where the driver refers to the driving structure used to rotate the telescopic mechanism 3. At the same time, the airbag 41 can change its shape by inflating and deflating it through the second inflation driving part. When the airbag 41 is deflated, the robot can be compressed into a very small volume, which is convenient for transportation and carrying. When the robot is inflated, it can also have the same functions as traditional robots. In addition, the deformation of the airbag 41 endows the robot with additional degrees of freedom, making the robot have a more flexible movement mode. Finally, because the robot uses inflatable structural parts, it has natural human-robot interaction safety. Due to the soft characteristics of the airbag 41, even when the robot collides, it can ensure the safety of the robot and the surrounding people or objects. Among them, the telescopic mechanism 3 is equivalent to the legs of a humanoid robot, and the first telescopic airbag assembly and the second telescopic airbag assembly are respectively equivalent to the thighs and calves of a humanoid robot.

[0057] The relatively light weight of this soft humanoid robot enables the robot to be applied in different scenarios. The robot can float on the water surface and thus swim on the water surface. The robot can also be carried by a small unmanned aerial vehicle to achieve fast and accurate delivery.

[0058] The telescopic mechanism 3 can broaden the movement mode of the robot. The telescoping of the telescopic mechanism 3 can be used as a driving degree of freedom to drive the movement of the robot. When the robot's legs split into a straight line, the robot can achieve creeping forward through the driving of the airbag 41 of the robot. Such a movement mode is suitable for stable forward movement in complex environments.

[0059] The walking motion of the robot is mainly realized by the rotation connection between the adapter plate, the first telescopic airbag assembly and the second telescopic airbag assembly. The specific implementation method is as follows: First, the robot remains in a standing state, and under the control of the driver, bends the knees and lowers the center of gravity. At this time, the center of gravity of the robot remains between the two legs. Then the motor 2 controls the center of gravity of the robot to shift to one side, and then the driver controls the leg of the robot away from the center of gravity to lift and move forward, and then put down the leg, and then the driver controls the center of gravity of the robot to move back to the middle of the two legs. Repeat the above steps, and the robot can achieve walking motion.

[0060] The crawling movement of the robot requires the rotational connection between the adapter plate and the first telescopic airbag assembly and the telescopic cooperation of the airbag 41. The specific implementation method is as follows: under the control of the driver, the robot opens its legs to form a straight line, and all the airbags remain in a contracted state. For the convenience of description, we describe the four airbags 41 of the robot as airbag A, airbag B, airbag C, and airbag D. When the robot starts to crawl, airbags A and airbag D are always in a contracted state. First, under the control of the driver, the robot rotates the driver located at the hip joint to make the hip joint contact the ground, and the knee The knee joint and ankle joint leave the ground, and under the control of the second inflatable drive, airbag B is inflated and airbag C is deflated. At this time, airbag A moves forward under the thrust of airbag B, and airbag D moves forward under the tension of airbag C. Then the motor at the hip joint is reversed to make the hip joint leave, and the knee joint and ankle joint contact the ground. Under the control of the second inflatable drive, airbag B is deflated and airbag C is inflated. At this time, the robot's hip joint moves forward under the tension of airbag B and the thrust of airbag C, and then the driver of the hip joint is rotated to make the robot's hip joint return to the ground. Repeat the above steps, and the robot can crawl forward or backward.

[0061] The swimming movement of the robot is also mainly achieved through the rotational connection between the adapter plate, the first telescopic airbag assembly and the second telescopic airbag assembly. The specific steps can be learned by combining the above content and swimming movements, and will not be repeated here.

[0062] The following is a detailed description of the structure and shape of the soft humanoid robot:

[0063] In an optional scheme of an embodiment of the present invention, the first telescopic airbag assembly and the second telescopic airbag assembly both include an external restriction layer 32 and two connecting parts 38; the two connecting parts 38 are respectively installed at both ends of the external restriction layer 32 to enclose an area for accommodating the airbag 41; a mounting protrusion for rotational connection is provided on the side of the connecting part 38 facing away from the external restriction layer 32.

[0064] Specifically, the external restraint layer 32 is made of a non-stretchable material, such as Oxford cloth, etc. In this embodiment, the external restraint layer forms a cylindrical shape, and both ends are adhesively bonded to the two connectors 38 respectively. The connector 38 is arranged in a tubular shape with one end closed, and the external restraint layer 32 extends into the connector 38 and is adhesively bonded to the inner wall of the connector 38 to increase the connection area between the two and improve the connection stability. The mounting protrusion is used to cooperate with the rotating shaft to achieve rotational connection.

[0065] The external restraint layer 32 is connected to the two connectors 38 to form a non-stretchable container, thereby restricting the maximum volume of the airbag 41. When the airbag 41 is inflated, the external wire support will restrict the volume expansion of the airbag 41, so that the internal air pressure of the airbag 41 increases. Since the hardness of the airbag 41 is related to the air pressure, when the air pressure increases, the hardness of the airbag 41 will gradually increase, so as to meet the requirements of the robot's movement. At the same time, the external restraint layer 32 can protect the internal airbag 41 and prevent the airbag 41 from rupturing due to contact with sharp objects, resulting in the failure of the airbag 41.

[0066] In an alternative embodiment of the present invention, both the first telescopic airbag assembly and the second telescopic airbag assembly include an elastic contraction rope 36, a turntable 37, a first rope 34, a pulley 35, and a contraction ring 31. There are two turntables 37, and the two turntables 37 are respectively slidably engaged with the two connectors 38. The turntable 37 can rotate around the axis of the connector 38. An elastic contraction rope 36 is wound around each turntable 37, and both ends of the elastic contraction rope 36 are respectively connected to the turntable 37 and the connector 38 on the same side. Both ends of the first rope 34 are wound around the two turntables 37 respectively, and the winding direction is opposite to that of the elastic contraction rope 36. Pulleys 35 are installed on both connectors 38, and the two pulleys 35 cooperate with the first rope 34 to change the direction of the first rope 34. The contraction ring 31 is installed on the outer wall of the external restraint layer 32.

[0067] Specifically, both ends of the elastic contraction rope 36 are respectively connected to the turntable 37 and the connector 38, and the elastic contraction rope 36 is wound around the turntable 37. The first rope 34 is wound around the turntable 37, and the winding direction is opposite to that of the elastic contraction rope 36, and both ends are connected to the two turntables 37 in the upper and lower parts. The pulley 35 is used to change the direction of the first rope 34. The contraction ring 31 is located on the periphery of the external restraint layer 32. When the airbag 41 is inflated and elongated, the first rope 34 will drive the turntable 37 to rotate in one direction. Since the winding direction of the elastic contraction rope 36 is opposite to that of the first rope 34, the elastic contraction rope 36 will be stretched at this time, providing a reverse torque for the turntable 37, so as to ensure that the first rope 34 is always in a tensioned state. When the airbag 41 deflates, the first rope 34 will actively wind around the turntable 37 to make the two end connectors 38 approach each other. The contraction ring 31 is always in a stretched state. When the airbag 41 deflates, it will contract the restraint layer inward, thereby assisting the contraction process.

[0068] Utilize the elastic contraction rope 36, the turntable 37, the first rope 34, the pulley 35 and the contraction ring 31 to make the outer restraint layer 32 fold inward in wrinkles, assisting the outer restraint layer 32 to contract so as to be applicable to different volumes of the airbag 41.

[0069] In an alternative embodiment of the present invention, a plurality of first ropes 34 are provided, and the plurality of first ropes 34 are arranged at intervals along the circumferential direction of the turntable 37.

[0070] Specifically, in this embodiment, there are a total of four first ropes 34, which are evenly distributed around the airbag 41; of course, if the number of the first ropes 34 is set to other values, it should also be within the protection scope of the embodiment of the present invention.

[0071] The provision of a plurality of first ropes 34 improves the contraction stability.

[0072] In an alternative embodiment of the present invention, a plurality of contraction rings 31 are provided, and the plurality of contraction rings 31 are arranged at intervals along the axial direction of the outer restraint layer 32.

[0073] Specifically, in this embodiment, the contraction ring 31 is bonded or sewn to the outer restraint layer 32. The contraction ring 31 refers to assisting the outer restraint layer 32 to contract, and it itself does not contract.

[0074] The plurality of contraction rings 31 divide the outer restraint layer 32 into multiple sections, and when the outer restraint layer 32 contracts, it can fold inward in multiple layers based on the plurality of contraction rings 31.

[0075] In an alternative embodiment of the present invention, both the first telescopic airbag assembly and the second telescopic airbag assembly include a telescopic guide rail 33; both ends of the telescopic guide rail 33 are respectively installed on the outer walls of two connectors 38 and are telescopic.

[0076] Specifically, the telescopic guide rail 33 is composed of three nested hollow carbon fiber rods, and the lengths of the carbon fiber rods can be freely telescoped without bending. Of course, if the telescopic guide rail 33 is set as a linear guide rail, a telescopic hinge or an origami structure, etc., it should also be within the protection scope of the embodiment of the present invention.

[0077] The telescopic guide rail 33 guides the contraction direction of the outer restraint layer 32.

[0078] In an alternative embodiment of the present invention, the adapter plate is provided with a convex structure, and the inflation mechanism further includes a second rope 11. The second rope 11 is wound around the convex structure and its two ends are respectively connected to the ends of two branches.

[0079] Specifically, the middle part of the second rope 11 is wrapped around the raised structure, and both ends are connected to the ends of the two branches. By adjusting the number of turns wrapped around the raised structure, the distance between the two ends of the second rope 11 and the raised structure can be adjusted, and then the distance between the end of the branch and the raised structure can be adjusted to achieve folding of the branch.

[0080] The second rope 11 is used to control the folding movement of the branches.

[0081] In an optional solution of the embodiment of the present invention, a limiting protrusion is installed on the outer wall of the ball part, and the second rope 11 passes through the limiting protrusion and slidably cooperates with the limiting protrusion.

[0082] Specifically, the middle portion of the second rope 11 is wound around the limiting protrusion, and then both ends pass through two limiting protrusions corresponding to the two branches respectively and are connected to the two branches.

[0083] The limiting protrusion is used to control the movement direction of the second rope 11 so that the branch part is folded toward the direction close to the ball part.

[0084] In an optional solution of the embodiment of the present invention, the first inflatable driving member and the second inflatable driving member both include a catheter 42 , a solenoid valve 44 and an air pump 43 , the air pump 43 is connected to the ball or airbag 41 through the catheter 42 , and the solenoid valve 44 is installed on the catheter 42 .

[0085] Specifically, the air pump 43 is used to control the air pressure of the airbag 41 or the inflatable member 1. The air pump 43 can generate positive pressure and negative pressure, and the solenoid valve 44 can control the on and off of the air path. The soft humanoid robot also includes a controller, which is connected to the air pump 43 and the solenoid valve 44 by signal to realize the intelligence of the soft humanoid robot. The controller is controlled by a digital chip.

[0086] When the airbag 41 or the inflatable member 1 needs to be inflated, the air pump 43 generates positive pressure under the action of the controller, the controller controls the electromagnetic valve 44 to open, and the positive pressure gas flows into the airbag 41 or the inflatable member 1 through the conduit 42 to achieve inflation. When the airbag 41 or the inflatable member 1 needs to be deflated, the air pump 43 generates negative pressure under the action of the controller, the controller controls the electromagnetic valve 44 to open, and the gas inside the airbag 41 or the inflatable member 1 flows in under the action of negative pressure to achieve deflation.

[0087] In an optional scheme of an embodiment of the present invention, the soft humanoid robot also includes a foot, a first rotating drive member, a second rotating drive member and a third rotating drive member. The first rotating drive member is installed on the bottom surface of the adapter plate and is transmission-connected to the first telescopic airbag assembly; the second rotating drive member is installed on the bottom surface of the first telescopic airbag assembly and is transmission-connected to the top surface of the second telescopic airbag assembly; the third rotating drive member is installed on the foot and is transmission-connected to the bottom surface of the second telescopic airbag assembly.

[0088] Specifically, the first rotation driving member, the second rotation driving member, and the third rotation driving member all include a motor 2. The motors 2 are distributed at each joint of the robot and drive the movement of each structure of the robot. The motor 2 is connected to the connecting member 38 by screws. The rotation of the motor 2 drives the movement of the connecting member 38, thereby driving the movement of the first telescopic airbag assembly or the second telescopic airbag assembly. Of course, a hydraulic system or a wire drive system can also be used to replace the motor 2.

[0089] The motor 2 drives the movement of the robot joints to control, thereby realizing functions such as walking and deformation.

[0090] This soft humanoid robot uses an airbag 41 as a structural member of the robot. The airbag 41 has a very small density. At the same time, after high-pressure gas is filled into the airbag 41, it also has high strength. Secondly, compared with rigid materials, the airbag 41 has a soft characteristic. Even when it collides with a person, due to its own flexibility, it is very safe. In addition, due to the design of the inflation structure, other advantages are brought to the robot. When the airbag 41 deflates, the volume of the robot will become very compact, and the volume can be reduced by more than half, which is convenient for transportation; the airbag 41 of the robot can also be used as a degree of freedom to realize other functions by deflating and inflating; the inflated robot has a very small density and can float on water by itself, and can be used as a swimming robot for water operations; the robot is very light and can be combined with drones, etc. to achieve fast and flexible deployment.

[0091] The walking motion of the robot is mainly achieved through the cooperation of the first rotation driving member, the second rotation driving member, and the third rotation driving member. The specific implementation method is as follows: First, the robot maintains a standing state. Under the control of the driver, it bends its knees and lowers its center of gravity. At this time, the center of gravity of the robot remains between the two legs. Then the motor controls the center of gravity of the robot to shift to one side. Then the driver controls the leg of the robot away from the center of gravity to lift and move forward, and then put down the leg. Then the driver controls the movement of the center of gravity of the robot and returns it to the middle of the two legs. By repeating the above steps, the robot can achieve walking motion.

[0092] The crawling motion of the robot is achieved through the rotational connection between the adapter plate and the first telescopic airbag assembly and the telescopic cooperation of the airbags. The specific implementation method is as follows: Under the control of the driver, the robot spreads its legs to form a straight line, and all airbags remain in a contracted state. For the convenience of description, we will hereinafter refer to the four airbags of the robot as airbag A, airbag B, airbag C, and airbag D. When the robot starts to crawl, airbag A and airbag D are always in a contracted state. First, under the control of the driver, the robot rotates the driver located at the hip joint so that the hip joint touches the ground, and the knee joint and ankle joint leave the ground. Under the control of the second inflation driving member, airbag B is inflated and airbag C is deflated. At this time, airbag A moves forward under the thrust of airbag B, and airbag D moves forward under the pulling force of airbag C. Then, the motor located at the hip joint is rotated in the reverse direction to make the hip joint leave, and the knee joint and ankle joint touch the ground. Under the control of the second inflation driving member, airbag B is deflated and airbag C is inflated. At this time, the hip joint of the robot moves forward under the pulling force of airbag B and the thrust of airbag C. Then, the driver of the hip joint is rotated to make the hip joint of the robot return to the ground. By repeating the above steps, the robot can achieve forward or backward crawling.

[0093] The swimming motion of the robot is also mainly achieved through the cooperation of the first rotation driving member, the second rotation driving member, and the third rotation driving member.

[0094] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A soft humanoid robot, characterized in that, Including: An inflation mechanism, an adapter plate, and two telescopic mechanisms (3); The inflation mechanism includes an inflatable member (1) and a first inflation driving member. The inflatable member (1) includes a spherical portion and two branch portions that communicate with the spherical portion and are respectively located on both sides of the spherical portion. The branch portions can be folded in a direction approaching the spherical portion. The first inflation driving member communicates with the spherical portion, and the bottom of the spherical portion and the first inflation driving member are both installed on the top surface of the adapter plate; The two telescopic mechanisms (3) are arranged at intervals; The telescopic mechanism (3) includes a first telescopic airbag assembly and a second telescopic airbag assembly. The first telescopic airbag assembly is rotatably connected to the bottom surface of the adapter plate, and the other end is rotatably connected to the second telescopic airbag assembly. An airbag (41) and a second inflation driving member are provided in both the first telescopic airbag assembly and the second telescopic airbag assembly. The second inflation driving member communicates with the airbag (41).

2. The soft humanoid robot according to claim 1, characterized in that, Both the first telescopic airbag assembly and the second telescopic airbag assembly include an external limiting layer (32) and two connecting members (38); The two connecting members (38) are respectively installed at both ends of the external limiting layer (32) and enclose a region for accommodating the airbag (41); On the side of the connecting member (38) facing away from the external limiting layer (32), there is an installation protrusion for rotational connection.

3. The soft humanoid robot according to claim 2, wherein, Both the first telescopic airbag assembly and the second telescopic airbag assembly include an elastic contraction rope (36), a turntable (37), a first rope (34), a pulley (35), and a contraction ring (31); There are two turntables (37), and the two turntables (37) are respectively slidably engaged with the two connecting members (38). The turntable (37) can rotate around the axis of the connecting member (38); The elastic contraction rope (36) is wound around each turntable (37), and both ends of the elastic contraction rope (36) are respectively connected to the turntable (37) and the connecting member (38) on the same side; Both ends of the first rope (34) are respectively wound around the two turntables (37), and the winding direction is opposite to that of the elastic contraction rope (36). The two connecting members (38) are both installed with the pulley (35), and the two pulleys (35) cooperate with the first rope (34) to change the direction of the first rope (34); The contraction ring (31) is installed on the outer wall of the external limiting layer (32).

4. The soft humanoid robot according to claim 3, characterized in that, There are multiple first ropes (34), and the multiple first ropes (34) are arranged at intervals along the circumference of the turntable (37).

5. The soft humanoid robot according to claim 4, characterized in that, There are multiple contraction rings (31), and the multiple contraction rings (31) are arranged at intervals along the axis of the external limiting layer (32).

6. The soft humanoid robot according to claim 5, characterized in that, Both the first telescopic airbag assembly and the second telescopic airbag assembly include a telescopic guide rail (33); Both ends of the telescopic guide rail (33) are respectively installed on the outer walls of the two connecting members (38) and are telescopic.

7. The soft humanoid robot according to claim 1, characterized in that, The adapter plate is provided with a convex structure. The inflation mechanism further includes a second rope (11). The second rope (11) is wound around the convex structure, and both ends are respectively connected to the ends of the two branches.

8. The soft humanoid robot according to claim 7, characterized in that, A limiting projection is installed on the outer wall of the spherical part. The second rope (11) passes through the limiting projection and is in sliding fit with the limiting projection.

9. The soft humanoid robot according to any one of claims 1-8, characterized in that, Both the first inflation driving member and the second inflation driving member include a conduit (42), a solenoid valve (44), and an air pump (43). The air pump (43) is communicated with the spherical part or the airbag (41) through the conduit (42), and the solenoid valve (44) is installed on the conduit (42).

10. The soft humanoid robot according to any one of claims 1-8, characterized in that, The soft humanoid robot further includes feet, a first rotation driving member, a second rotation driving member, and a third rotation driving member. The first rotation driving member is installed on the bottom surface of the adapter plate and is in transmission connection with the first telescopic airbag assembly; The second rotation driving member is installed on the bottom surface of the first telescopic airbag assembly and is in transmission connection with the top surface of the second telescopic airbag assembly; The third rotation driving member is installed on the feet and is in transmission connection with the bottom surface of the second telescopic airbag assembly.

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