Robot

Abstract

The invention provides a robot which comprises a robot body, at least two sets of leg assemblies and at least two sets of sliding assemblies, the leg assemblies are arranged in the lower area of the robot body and rotationally connected with the robot body, the number of the sliding assemblies is the same as that of the leg assemblies, and the sliding assemblies are connected with the corresponding leg assemblies; in the first sliding state, the leg assemblies are located at first specific positions and abut against the machine body, and the sliding assemblies protrude downwards out of the corresponding leg assemblies. Thus, the leg assembly is located at the first specific position and abuts against the machine body, and the sliding assembly installed on the leg assembly protrudes downwards out of the leg assembly, so that the load of the machine body is transmitted to the sliding assembly used for making contact with a supporting face (such as the ground) through the leg assembly, and the transmission path of the load of the machine body is optimized; the robot does not need to additionally provide driving force for bearing the body load, so that the energy consumption of the robot is reduced, and the bearing capacity of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a robot. Background Art

[0002] Robots are generally categorized as bipedal, quadrupedal, and multi-legged, and they all move using a walking mechanism. Bipedal robots are primarily humanoid in design, with two sets of leg components in their walking mechanism. Quadrupedal robots are modeled after four-legged animals in nature, with four sets of leg components in their walking mechanism. Multi-legged robots are modeled after multi-legged insects in nature, with more than four sets of leg components in their walking mechanism.

[0003] In related technologies, in order to adapt to different road conditions (for example, there are both paved roads with good smoothness and unpaved roads with unevenness, steps, slopes, etc.), the robot's walking mechanism is usually designed into two motion forms, one is a sliding motion state, and the other is a crawling motion state. The sliding motion state is applied to paved roads with good smoothness, and the crawling motion state is applied to unpaved roads with poor smoothness.

[0004] However, in the related art, whether the robot is in a crawling state or a sliding state, the first joint or the second joint needs to provide additional torque to support the load, resulting in limited load-bearing capacity of the robot and higher energy consumption. In addition, the first joint and the second joint bear the load continuously for a long time, which makes them prone to overheating and burning, affecting their service life. Summary of the Invention

[0005] The present application provides a robot to at least solve the above-mentioned problems in the related art.

[0006] To achieve the above objectives, the present application provides the following technical solutions: a robot comprising:

[0007] body;

[0008] at least two sets of leg assemblies disposed in a lower region of the fuselage and rotatably connected to the fuselage;

[0009] At least two sets of sliding assemblies, the number of sliding assemblies is the same as the number of leg assemblies, and they are connected to the corresponding leg assemblies; wherein,

[0010] In the first sliding state, the leg assembly is located at a first specific position and is against the fuselage, and the sliding assembly protrudes downward from the corresponding leg assembly, so that the load of the fuselage is transferred to the sliding assembly through the leg assembly, and the robot is driven to slide through the sliding assembly.

[0011] In one embodiment, the fuselage includes:

[0012] At least two groups of buffer components, the number of buffer components is the same as the number of leg components, and the buffer components are installed at specific parts of the fuselage. In the first sliding state, the leg component is against one end of the buffer component, and the other end of the buffer component is fixedly connected to the fuselage.

[0013] In one embodiment, the sliding assembly includes:

[0014] pulley;

[0015] The driving member is mounted on the corresponding leg assembly and is rotatably connected to the pulley via an output shaft; wherein,

[0016] In the first sliding state, the pulley protrudes downward from the corresponding leg assembly, and the driving member drives the pulley to rotate to drive the robot to slide.

[0017] In one embodiment, the leg assembly includes: a thigh component and a calf component;

[0018] The first end of the thigh component is rotatably connected to the fuselage through a first joint, and the first end of the calf component is rotatably connected to the second end of the thigh component through a second joint.

[0019] In one embodiment, at least two mounting areas are provided on the fuselage, the number of the mounting areas being the same as the number of the leg assemblies, and the first joint is mounted on the corresponding mounting area;

[0020] The installation areas are distributed on the left and right sides of the fuselage and / or on at least one of the front and rear sides of the fuselage;

[0021] The installation area is recessed or protruded on the body.

[0022] In one embodiment, the second end of the thigh member includes an inner ear plate and an outer ear plate that are symmetrically arranged, and the second joint is installed between the two ear plates.

[0023] In one embodiment, the second joint is fixedly connected to the calf component, and the second joint is rotatably connected to the ear plate via an output shaft; or

[0024] The second joint is fixedly connected to the ear plate, and the second joint is rotationally connected to the calf component through an output shaft.

[0025] In one embodiment, the sliding assembly is located on the inner side or the outer side of the thigh member and is installed at a position of the thigh member close to the second joint.

[0026] In one embodiment, the first joint drives the corresponding thigh component to rotate to a first specific position, so that the thigh component abuts against the body, and the second joint drives the corresponding calf component to rotate toward the thigh component until the sliding assembly protrudes downward from the calf component and contacts the support surface, and the robot enters a first sliding state;

[0027] The first joint drives the corresponding thigh part to rotate to the second specific position and not against the fuselage. The first joint locks the thigh part at the second specific position. The second joint drives the corresponding calf part to move closer to the thigh part until the sliding assembly protrudes downward from the calf part and contacts the support surface. The robot then enters the second sliding state.

[0028] In one embodiment, the robot further has a crawling state, wherein the first joint drives the corresponding thigh component to rotate to an initial position of the crawling state and not abut against the body, and the second joint drives the corresponding calf component to rotate until the second end of the calf component protrudes downward from the sliding assembly and contacts the support surface, and the robot enters the crawling state;

[0029] In the crawling state, the first joint drives the thigh part to rotate within a set angle, and the second joint synchronously drives the calf part to rotate, so that the robot crawls on the support surface.

[0030] In the above-mentioned robot, in the first sliding state, the leg assembly is located at a first specific position and is against the fuselage, and the sliding assembly installed on the leg assembly protrudes downward from the leg assembly, so that the load of the fuselage is transmitted through the leg assembly to the sliding assembly in contact with the supporting surface (for example, the ground), thereby optimizing the transmission path of the fuselage load. The robot does not need to provide additional driving force to carry the fuselage load, so as to reduce the energy consumption of the robot and improve the carrying capacity of the robot.

[0031] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and other objects, features and advantages of the exemplary embodiments of the present application will become readily understood by reading the detailed description below with reference to the accompanying drawings. In the accompanying drawings, several embodiments of the present application are shown in an illustrative and non-limiting manner, in which:

[0033] In the drawings, the same or corresponding reference numerals denote the same or corresponding parts.

[0034] Figure 1 A schematic diagram of the structure of the robot in the first sliding state according to an embodiment of the present application is shown;

[0035] Figure 2 Shown Figure 1 Schematic diagram of the structure of the middle leg assembly and the sliding assembly;

[0036] Figure 3 A schematic diagram of the structure of the robot in the second sliding state according to an embodiment of the present application is shown;

[0037] Figure 4 A schematic diagram of the structure of the robot in the crawling state in an embodiment of the present application is shown.

[0038] Explanation of the numbers in the figure: 11, fuselage; 111, cushioning assembly; 112, installation area; 12, leg assembly; 121, thigh component; 1211, inner ear plate; 1212, outer ear plate; 122, calf component; 123, first joint; 124, second joint; 125, foot component; 13, sliding assembly; 131, pulley; 132, driving part. DETAILED DESCRIPTION

[0039] In order to make the purpose, features, and advantages of this application more obvious and easy to understand, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0040] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0042] In related technologies, robots typically adopt bipedal, quadrupedal, or multi-legged structures to adapt to different terrain environments. During gliding motion, joints must continuously output torque to maintain the body's posture, which limits the system's load capacity and significantly increases energy consumption. During long-term operation, joints are prone to overheating and damage due to continuous load, shortening the device's service life. This problem is particularly prominent in transport robots, where joint overheating directly leads to increased downtime for maintenance.

[0043] In order to solve the above-mentioned problems existing in the relevant technology, an optional solution is: by transferring the supporting function from the joint to the rigid structure, the sliding component directly bears the fuselage load. In this way, the joints of the robot do not need to output torque continuously for a long time during transportation operations, so as to avoid overheating of the joints while reducing energy consumption.

[0044] Therefore, the embodiment of the present application provides a technical solution of a robot, combined with Figure 1 The robot includes a body 11, at least two groups of leg assemblies 12 and at least two groups of sliding assemblies 13. Each group of leg assemblies 12 is arranged in the lower area of the body 11 and is rotatably connected to the body 11. The number of sliding assemblies 13 is the same as that of the leg assemblies 12, and they are connected to the corresponding leg assemblies 12. In the first sliding state, the leg assemblies 12 are located at a first specific position and abut against the body 11, and the sliding assemblies 13 protrude downward from the corresponding leg assemblies 12, so that the load of the body 11 is transferred to the sliding assemblies 13 through the leg assemblies 12, and the robot is driven to slide and move through the sliding assemblies 13. Among them, Figure 1 This is a schematic diagram of the structure of the robot in the first sliding state.

[0045] In the above-mentioned robot, in the first sliding state, the leg assembly 12 is located at a first specific position and abuts against the fuselage 11, and the sliding assembly 13 installed on the leg assembly 12 protrudes downward from the leg assembly 12, so that the load of the fuselage 11 is transmitted through the leg assembly 12 to the sliding assembly 13 in contact with the supporting surface (for example, the ground). The sliding assembly 13 directly bears the load, thereby optimizing the transmission path of the load of the fuselage 11. The robot does not need to provide additional driving force to bear the load of the fuselage 11, so as to reduce the energy consumption of the robot and improve the carrying capacity of the robot.

[0046] Optionally, the fuselage 11 is realized by a metal frame, a composite material, or a combination of a metal frame and a composite material, and is used to bear the load.

[0047] Optionally, the fuselage 11 is also used to integrate the power system and control module.

[0048] Combine Figure 1 In some embodiments, the fuselage 11 includes at least two groups of buffer components 111. The number of buffer components 111 is the same as the number of leg components 12. The buffer components 111 are installed at specific positions on the fuselage. In the first sliding state, the leg component 12 abuts against one end of the buffer component 111, and the other end of the buffer component 111 is fixedly connected to the fuselage 11.

[0049] In this way, when the robot is in a sliding state, the leg assembly 12 rotates to a first specific position and contacts the buffer assembly 111. At this time, the load of the fuselage 11 is transmitted to the main body of the fuselage 11 through the elastic deformation of the buffer assembly 111. The buffer assembly 111 deforms during the compression process, converting the instantaneous impact force transmitted by the leg assembly 12 into elastic potential energy and gradually releasing it, avoiding the stress concentration caused by the rigid connection, thereby achieving effective attenuation of the impact energy between the fuselage 11 and the leg assembly 12 in the sliding state, thereby reducing the wear between the fuselage 11 and the leg assembly 12; the one-to-one installation method of the buffer assembly 111 and the leg assembly 12 enables each leg assembly 12 to independently bear the corresponding load impact when sliding. The independent installation design of the buffer assembly 111 ensures that the impact absorption of each leg assembly 12 does not interfere with each other, thereby improving the overall stability of the robot during sliding motion.

[0050] Preferably, the leg assembly 12 is rotatably connected to the body 11 via a first joint 123. The first joint 123 has a locked state and an unlocked state. In the locked state, the first joint 123 locks and fixes the leg assembly 12 so that the leg assembly 12 cannot continue to rotate around the axis of the first joint 123. In the unlocked state, the first joint 123 unlocks the leg assembly 12, and the leg assembly 12 can continue to rotate around the axis of the first joint 123. In the first sliding state, the first joint 123 is in an unlocked state so that the sliding assembly 13 can adaptively adjust its height along with the leg assembly 12, so that the sliding assembly 13 can always maintain contact with the support surface, thereby improving the grip of the sliding assembly 13 and reducing the slippage of the sliding assembly 13 when rolling along the support surface. Exemplarily, the first joint 123 can be a joint motor.

[0051] Furthermore, the buffer assembly 111 is an elastic structure used to absorb mechanical shock, thereby forming a flexible support between the body 11 and the leg assembly 12. For example, the buffer assembly 111 may be a spring shock absorber, a hydraulic shock absorber, or a rubber damping block. It forms a flexible support between the body 11 and the leg assembly 12. This embodiment does not limit the specific structure of the buffer assembly 111.

[0052] It can be understood that the specific part of the fuselage refers to the mechanical structure area where the buffer assembly 111 is installed; specifically, the specific part of the fuselage can be an installation groove or a fixed base symmetrically arranged on both sides of the lower area of the fuselage 11, and its layout matches the movement trajectory of the leg assembly 12 to ensure that the leg assembly 12 can stably rest against the buffer assembly 111 in the sliding state.

[0053] Combine Figure 1In some embodiments, the sliding assembly 13 includes a pulley 131 and a driver 132. The driver 132 is mounted on the corresponding leg assembly 12 and is rotationally connected to the pulley 131 via an output shaft. In the first sliding state, the pulley 131 protrudes downward from the corresponding leg assembly 12, and the driver 132 drives the pulley 131 to rotate, thereby driving the robot to slide. Exemplarily, the driver 132 may be a hub motor.

[0054] Thus, in the first sliding state, the pulley 131 extends downward over the leg assembly 12 and contacts the support surface to form a rigid support, and the leg assembly 12 does not contact the support surface. The load of the body 11 is transmitted to the pulley 131 through the leg assembly 12 rather than relying on the torque of the first joint 123 to maintain balance. The driving member 132 is fixed to the leg assembly 12, and the output shaft is coaxially connected to the pulley 131, so that the rotational power output by the driving member 132 directly acts on the pulley 131, and the pulley 131 rotates to generate the sliding driving force. This design completely separates the sliding power transmission path from the support structure. The pulley 131 serves as both a load-bearing component and a driving component. The first joint 123 in the leg assembly 12 does not need to continuously output the torque to maintain sliding, thereby greatly reducing the energy consumption of the robot, and significantly reducing the joint load in the leg assembly 12, extending the service life of the leg assembly 12.

[0055] Furthermore, the pulley 131 is a rolling component that contacts the support surface and slides. The pulley 131 protrudes downward from the leg assembly 12 to form an independent support point, so that the weight of the fuselage 11 is directly transferred to the support surface through the pulley 131; exemplarily, the pulley 131 can be a metal wheel or a rubber wheel.

[0056] In some embodiments, combined Figure 2 The leg assembly 12 includes a thigh component 121 and a calf component 122. The first end of the thigh component 121 is rotatably connected to the body 11 via a first joint 123, and the first end of the calf component 122 is rotatably connected to the second end of the thigh component 121 via a second joint 124. For example, the first joint 123 can be a joint motor for driving the thigh component 121 to rotate around the axis of the first joint 123, and the second joint 124 can be a joint motor for driving the calf component 122 to rotate around the axis of the second joint 124. Figure 2 It is a schematic structural diagram of the leg assembly 12 and the sliding assembly 13.

[0057] In this way, when the robot is in the first sliding state, the weight of the fuselage 11 is transferred to the sliding component 13 through the rigid thigh component 121, and the first joint 123 and the second joint 124 do not need to continuously output support torque; when the robot is in the crawling state, the calf component 122 is unfolded to form an independent support point, and the contour-like crawling operation is achieved through the coordinated movement of the thigh component 121 and the calf component 122.

[0058] Preferably, the second joint 124 has a locked state and an unlocked state. In the locked state, the second joint 124 locks and fixes the calf component 122 so that the calf component 122 cannot continue to rotate around the axis of the second joint 124. In the unlocked state, the second joint 124 unlocks the calf component 122, and the calf component 122 can continue to rotate around the axis of the second joint 124.

[0059] Furthermore, the thigh component 121 is a rigid structural component connecting the fuselage 11 and the calf component 122, and has the function of supporting the load of the fuselage 11 and transmitting it to the calf component 122. For example, the thigh component 121 can be made of metal pipe or carbon fiber composite material.

[0060] Furthermore, the calf component 122 refers to a rigid structural component connecting the thigh component 121 and the sliding assembly 13. For example, the calf component 122 can be made of a lightweight alloy material.

[0061] In some embodiments, combined Figure 2 The leg assembly 12 further includes a foot component 125 , which is connected to the second end of the calf component 122 , and the calf component 122 contacts the support surface through the foot component 125 .

[0062] In some optional embodiments, the foot component 125 may be a contoured structure. For example, the foot component 125 may be made of a humanoid foot structure.

[0063] In some other optional embodiments, the foot component 125 may be a non-contoured structure. For example, the foot component 125 may be a spherical structure.

[0064] It should be noted that the structure of the foot component 125 listed above is only an example, and this application does not limit the connection method of the foot component 125.

[0065] In some embodiments, combined Figure 1At least two mounting areas 112 are provided on the fuselage 11, the number of the mounting areas 112 is the same as the number of the leg assemblies 12, and the first joint 123 is installed on the corresponding mounting area 112; the mounting areas 112 are distributed on the left and right sides of the fuselage 11 and / or on at least one of the front and rear sides of the fuselage 11; the mounting areas 112 are recessed or convex on the fuselage 11.

[0066] In this way, by aligning the number of mounting areas 112 with the number of leg assemblies 12, each first joint 123 is independently fixed to the corresponding mounting area 112, allowing the load transfer path to extend directly from the fuselage 11 to the leg assembly 12, thus avoiding stress concentration caused by multiple joints sharing the mounting area 112. When the mounting areas 112 are distributed on the left and right sides of the fuselage 11, the symmetrical layout of the leg assembly 12 can improve the stability of the robot during lateral movement; when distributed on the front and back sides, the longitudinal support capacity is enhanced, for example, when climbing a slope, the front mounting area 112 can bear a greater load; when the mounting areas 112 are recessed in the fuselage 11, the volume occupied by the robot in the horizontal direction can be reduced, making it easier to operate in narrow passages. When the mounting areas 112 are protruding from the fuselage 11, the fuselage 11 has a larger installation space inside, allowing for the installation of more energy storage batteries, thereby improving the robot's endurance.

[0067] In some embodiments, the installation areas 112 are distributed on the left and right sides of the body 11 ; wherein the robot may be a bipedal robot, a quadrupedal robot, or a multi-legged robot.

[0068] In other possible implementations, the installation areas 112 are distributed on the front and rear sides of the body 11; wherein the robot is a bipedal robot, a quadrupedal robot, or a multi-legged robot.

[0069] In some other possible implementations, the installation areas 112 are distributed on the front and rear sides of the body 11 ; wherein the robot is a quadruped robot or a group of robots.

[0070] It is understandable that the locations of the installation areas 112 listed above are merely examples, and this application does not limit the specific location of the installation area 112 .

[0071] In some embodiments, each mounting area 112 is recessed in the fuselage 11 or protrudes from the fuselage 11 .

[0072] In other possible implementations, a portion of the mounting area 112 is recessed in the body 11, while another portion of the mounting area 112 is protruded from the body 11. Thus, by recessing a portion of the mounting area 112 in the body 11 and providing the other portion of the mounting area 112 on the body 11, the arrangement of the mounting area 112 can be flexibly adjusted according to the installation positions of the internal components of the body 11 and the operating environment.

[0073] In some embodiments, combined Figure 2 The second end of the thigh component 121 includes an inner ear plate 1211 and an outer ear plate 1212 that are symmetrically arranged, and the second joint 124 is installed between the two ear plates.

[0074] In this way, the inner ear plate 1211 and the outer ear plate 1212 are symmetrically distributed on both sides of the second end of the thigh part 121, forming two parallel support surfaces. The rotating shaft of the second joint 124 passes through the space between the two ear plates horizontally, and the two ends of the rotating shaft are locked in the mounting holes of the inner ear plate 1211 and the outer ear plate 1212 respectively through the shaft end fixing structure. When the second joint 124 bears the load from the calf part 122, the load is transmitted to the ear plates on both sides through the rotating shaft, so that the load is evenly distributed in the symmetrical structure. The support structure formed by the bilateral ear plates can effectively offset the lateral torque generated during the joint movement and prevent local stress concentration caused by unilateral support. The bilateral fixing method of the rotating shaft can avoid the rotating shaft deflection caused by the unilateral cantilever structure, thereby improving the overall stiffness and load-bearing stability of the joint structure, and by installing the second joint 124 between the two ear plates, the second joint 124 can be stored and protected, and it is also beautiful.

[0075] In some optional embodiments, the second joint 124 is fixedly connected to the calf component 122, and the second joint 124 is rotationally connected to the ear plate via an output shaft; illustratively, the second joint 124 and the calf component 122 are fixed via screws.

[0076] Preferably, the second joint 124 is rotatably connected to the inner lug plate 1211 via an output shaft, and the second joint 124 is rotatably connected to the side lug plate via a bearing; alternatively, the second joint 124 is rotatably connected to the outer lug plate 1212 via an output shaft, and the second joint 124 is rotatably connected to the inner lug plate 1211 via a bearing. In this way, the inner lug plate 1211 and the outer lug plate 1212 provide stable support for the second joint 124.

[0077] Preferably, the inner ear plate 1211 and the outer ear plate 1212 are an integrated structure, which has greater connection strength and an aesthetic effect.

[0078] In other optional embodiments, the second joint 124 is fixedly connected to the ear plate, and the second joint 124 is rotationally connected to the calf component 122 via an output shaft; illustratively, the second joint 124 and the ear plate are fixed via screws.

[0079] Preferably, the second joint 124 is fixedly connected to at least one of the inner ear plate 1211 and the outer ear plate 1212 .

[0080] In some embodiments, the sliding component 13 is located on the inner or outer side of the thigh component 121 and is installed at a position of the thigh component 121 close to the second joint 124. In this way, when the sliding component 13 is installed to a position close to the second joint 124, the sliding component 13 can always protrude downward from the thigh component 121. Therefore, the robot's motion state can be adjusted by only driving the calf component 122 to rotate through the second joint 124, thereby improving the convenience of switching the robot's motion state.

[0081] Preferably, the driving member 132 of the sliding assembly 13 is coaxially arranged with the second joint 124 .

[0082] In some optional embodiments, the sliding assembly 13 is located on the inner side or the outer side of the thigh member 121 and is installed at a position of the thigh member 121 away from the second joint 124 .

[0083] In some other optional embodiments, the sliding assembly 13 is located on the inner side or the outer side of the calf component 122 and is installed on the calf component 122 .

[0084] It should be pointed out that the installation positions of the sliding components 13 listed above are merely examples, and the embodiments of the present application do not limit the specific installation positions of the sliding components 13.

[0085] In some embodiments, combined Figure 1 The first joint 123 drives the corresponding thigh part 121 to rotate to the first specific position, and the thigh part 121 abuts against the body 11. The second joint 124 drives the corresponding calf part 122 to rotate to move closer to the thigh part 121 until the sliding component 13 protrudes downward from the calf part 122 and contacts the support surface. The robot enters the first sliding state. Figure 3 The first joint 123 drives the corresponding thigh component 121 to rotate to the second specific position and not abut against the body 11. The first joint 123 locks the thigh component 121 at the second specific position. The second joint 124 drives the corresponding calf component 122 to move closer to the thigh component 121 until the sliding component 13 protrudes downward from the calf component 122 and contacts the support surface. The robot enters the second sliding state. Figure 3 This is a structural diagram of the robot in the second sliding state.

[0086] Thus, when the robot switches to the first sliding state, the first joint 123 drives the thigh component 121 to rotate to the mechanical limit position preset in the fuselage 11. At this time, the load of the fuselage 11 is directly transferred to the sliding assembly 13 through rigid contact, and the second joint 124 drives the calf component 122 to fold and contract, so that the pulley 131 extends downward beyond the end of the calf and contacts the support surface. When switching to the second sliding state, the first joint 123 drives the thigh component 121 to rotate to the hovering angle and triggers the locking mechanism to fix the posture. The second joint 124 continues to contract the calf component 122 so that the pulley 131 contacts the support surface. At this time, the load is transferred to the sliding assembly 13 through the locked first joint 123. In both sliding states, the first joint 123 and the second joint 124 do not need to continuously output torque to maintain the posture, and only need to provide driving force during the switching process.

[0087] It will be understood that the first specific position refers to the position of the thigh member 121 relative to the fuselage 11 when the thigh member 121 rotates to contact the fuselage 11. The load on the fuselage 11 can be directly transferred to the thigh member 121 and then directly transferred to the slide assembly 13 via the thigh member 121, without causing wear on the first joint 123. The second specific position refers to the position of the thigh member 121 relative to the fuselage 11 when it is not in contact with the fuselage 11. The thigh member 121 can be driven to rotate to this second specific position via the first joint 123 and then locked. The load on the fuselage 11 needs to be indirectly transferred to the thigh member 121 via the first joint 123, which will cause significant wear on the first joint 123.

[0088] In some embodiments, combined Figure 4 The robot has a crawling state. The first joint 123 drives the corresponding thigh component 121 to rotate to the initial position of the crawling state and not against the fuselage 11. The second joint 124 drives the corresponding calf component 122 to rotate until the second end of the calf component 122 protrudes downward from the sliding component 13 and contacts the support surface. The robot enters the crawling state. In the crawling state, the first joint 123 drives the thigh component 121 to rotate within a set angle, and the second joint 124 synchronously drives the calf component 122 to rotate, so that the robot crawls on the support surface. Figure 4 This is a schematic diagram of the structure of the robot in the crawling state.

[0089] In this way, the robot can achieve crawling motion through the leg assembly 12 to adapt to non-paved roads with poor flatness such as steps and slopes.

[0090] It can be understood that in the relevant technology, the crawling motion of the robot is an imitation motion, among which the crawling motion of the bipedal robot is an imitation motion of human walking, the crawling motion of the quadrupedal robot is an imitation motion of quadruped animals (for example, dogs), and the crawling motion of the three-legged robot is an imitation motion of insects (for example, cockroaches).

[0091] It is understandable that the initial position of the crawling state refers to the position where the thigh component 121 is in a non-resting state relative to the fuselage 11, which can be achieved by limiting the rotation range of the first joint 123. Specifically, the rotation range of the first joint 123 is any angle within 0°-180°. This position creates a gap between the thigh component 121 and the fuselage 11 to eliminate contact. Rotation within a set angle refers to the angle range within which the first joint 123 drives the thigh component 121 to rotate around the axis of the first joint 123 when the leg assembly 12 walks. Specifically, this can be achieved by using an angle sensor in conjunction with a control algorithm; the set angle can be any angle within 0°-180°, and the set angle is consistent with the rotation angle of the first joint 123. Synchronous drive means that the action timing of the first joint 123 and the second joint 124 are coordinated by the controller.

[0092] In some embodiments, any two of the first gliding state, the second gliding state, and the crawling state can be switched freely. For example, the first gliding state and the second gliding state can be switched freely, the first gliding state and the crawling state can be switched freely, and the second gliding state and the crawling state can be switched freely.

[0093] This allows the robot to quickly switch between different motion states when operating on different road conditions (for example, both smooth paved surfaces and uneven, unpaved surfaces with steps, slopes, and other rough surfaces). This ensures the robot can adapt to different road conditions and maintain stable operation, while significantly reducing energy consumption and extending operating time. For example, on smooth surfaces, the robot can switch to the first gliding state. When picking up or loading goods or requiring a high-angle view, it switches to the second gliding state. When walking on rough surfaces, it can switch to the crawling state.

[0094] In some embodiments, the robot may be a bipedal robot, a quadrupedal robot, or a multi-legged robot.

[0095] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A robot, characterized in that: The robot comprises: body; at least two sets of leg assemblies disposed in a lower region of the fuselage and rotatably connected to the fuselage; At least two sets of sliding assemblies, the number of the sliding assemblies is the same as the number of the leg assemblies, and the sliding assemblies are connected to the corresponding leg assemblies; wherein, In the first sliding state, the leg assembly is located at a first specific position and abuts against the fuselage, and the sliding assembly protrudes downward from the corresponding leg assembly, so that the load of the fuselage is transferred to the sliding assembly through the leg assembly, and the robot is driven to slide through the sliding assembly.

2. The robot according to claim 1, characterized in that The fuselage comprises: At least two groups of buffer components, the number of the buffer components is the same as the number of the leg components, and the buffer components are installed at specific positions of the fuselage. In the first sliding state, the leg components abut against one end of the buffer components, and the other end of the buffer components is fixedly connected to the fuselage.

3. The robot according to claim 1, characterized in that The sliding assembly includes: pulley; A driving member is mounted on the corresponding leg assembly, and the driving member is rotationally connected to the pulley via an output shaft; wherein, In the first sliding state, the pulley protrudes downward from the corresponding leg assembly, and the driving member drives the pulley to rotate to drive the robot to slide.

4. The robot according to any one of claims 1 to 3, characterized in that: The leg assembly includes: a thigh component and a calf component; The first end of the thigh component is rotatably connected to the body via a first joint, and the first end of the calf component is rotatably connected to the second end of the thigh component via a second joint.

5. The robot according to claim 4, characterized in that At least two mounting areas are provided on the fuselage, the number of the mounting areas being the same as the number of the leg assemblies, and the first joint is mounted on the corresponding mounting area; The installation areas are distributed on the left and right sides of the fuselage and / or on at least one of the front and rear sides of the fuselage; The installation area is concave or convex on the body.

6. The robot according to claim 4, characterized in that The second end of the thigh component includes an inner ear plate and an outer ear plate that are symmetrically arranged, and the second joint is installed between the two ear plates.

7. The robot according to claim 6, characterized in that The second joint is fixedly connected to the calf component, and the second joint is rotatably connected to the ear plate via an output shaft; or The second joint is fixedly connected to the ear plate, and the second joint is rotatably connected to the calf component via an output shaft.

8. The robot according to claim 4, characterized in that The sliding assembly is located on the inner side or the outer side of the thigh component and is installed at a position of the thigh component close to the second joint.

9. The robot according to claim 7, characterized in that The first joint drives the corresponding thigh component to rotate to the first specific position, and the thigh component abuts against the body. The second joint drives the corresponding calf component to rotate to move closer to the thigh component until the sliding assembly protrudes downward from the calf component and contacts the support surface, and the robot enters the first sliding state. The first joint drives the corresponding thigh part to rotate to a second specific position and not to abut against the fuselage. The first joint locks the thigh part at the second specific position. The second joint drives the corresponding calf part to move closer to the thigh part until the sliding assembly protrudes downward from the calf part and contacts the support surface, and the robot enters the second sliding state.

10. The robot according to claim 7, characterized in that The robot also has a crawling state, wherein the first joint drives the corresponding thigh component to rotate to an initial position of the crawling state and not abut against the body, and the second joint drives the corresponding calf component to rotate until the second end of the calf component protrudes downward from the sliding assembly and contacts the support surface, and the robot enters the crawling state; In the crawling state, the first joint drives the thigh component to rotate within a set angle, and the second joint synchronously drives the calf component to rotate, so that the robot crawls and moves on the support surface.

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