Half-horse robot

Abstract

The invention provides a half-horse robot which comprises a robot body, a compliant mechanism and a connecting piece, the robot body comprises a trunk and two mechanical legs, the trunk is used for bearing a heavy object, and the mechanical legs have three degrees of freedom and are connected to the rear end of the trunk; the connecting piece is used for being connected with a target object, and the target object is provided with two legs; the compliant mechanism is arranged between the front end of the trunk and the connecting piece, the compliant mechanism comprises an input end and an output end, the output end is connected with the connecting piece, and the input end can do linear motion relative to the output end; the compliant mechanism is configured to change the elastic potential energy of the compliant mechanism according to the relative displacement of the input end so as to adjust the acting force between the output end and the connecting piece. According to the half-horse robot, the purposes that the acting force is adjustable, the coordination is good and the man-machine interaction is smoother when the man-machine interaction is carried out in the load-bearing advancing process under multiple scenes are considered are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of load-bearing walking robots, and in particular to a centaur robot. Background Art

[0002] A load-bearing walking robot is an integrated wearable device that combines a human and a machine. Using sensors to determine the user's intentions, the robot follows and assists, alleviating fatigue from carrying heavy loads and for extended periods. A centaur robot is a load-bearing walking robot with a load-bearing mechanism. The front end of the mechanism connects to the human body, and the rear end is equipped with two mechanical legs. When connected to a human, the centaur robot and the human body form a structure similar to a human-horse.

[0003] The centaur robot in related technology can only move on flat roads, with relatively simple application scenarios and poor coordination. Summary of the Invention

[0004] The embodiment of the present application provides a centaur robot, which is used to solve the problems of single application scenario and poor coordination of centaur robots in related technologies.

[0005] An embodiment of the present application provides a centaur robot, comprising: a robot body, a compliant mechanism and a connecting member, wherein the robot body comprises a torso and two mechanical legs, the torso is used to carry heavy objects, the mechanical legs have three degrees of freedom, and the mechanical legs are connected to the rear end of the torso; the connecting member is used to connect to a target object, and the target object has two legs; the compliant mechanism is arranged between the front end of the torso and the connecting member, the compliant mechanism comprises an input end and an output end, the output end is connected to the connecting member, and the input end can perform linear motion relative to the output end; the compliant mechanism is configured to: according to the relative displacement of the input end, the elastic potential energy of the compliant mechanism changes to adjust the force between the output end and the connecting member.

[0006] In some embodiments, the compliance mechanism is a spring structure, and the stiffness of the spring structure is nonlinear.

[0007] In some embodiments, the compliant mechanism includes a four-bar linkage, an antagonistic spring structure, a guide rail and the input end, wherein the input end is a slider that slides with the guide rail; the guide rail extends along a first direction, one end of the guide rail is connected to the four-bar linkage through the input end, and the end of the guide rail away from the input end is connected to the four-bar linkage to form the output end; the antagonistic spring structure is connected between the four-bar linkage along a second direction, and the antagonistic spring structure is used to release the elastic potential energy to apply the force to the output end; wherein, the first direction and the second direction are the directions of the two diagonals of the four-bar linkage, and the first direction is perpendicular to the second direction.

[0008] In some embodiments, the four-bar linkage includes four links, two adjacent links are rotatably connected, two of the links are rotatably connected to both sides of the input end in the first direction, and the remaining two links are rotatably connected to both sides of the input end in the first direction, and the lengths of the four links are equal.

[0009] In some embodiments, the connecting rod connected to the input end is a first connecting rod, and the first connecting rod is provided with an angle sensor, and the angle sensor is used to detect the angle between the first connecting rod and the first direction.

[0010] In some embodiments, the output end includes a base plate, a sleeve and two connecting ears, the sleeve is arranged on one side surface of the base plate, the axis of the sleeve is parallel to the thickness direction of the base plate, and the sleeve is sleeved on the end of the guide rail away from the input end. In the second direction, the two connecting ears are symmetrically arranged on the outer surface of the sleeve, the connecting rod connected to the output end is a second connecting rod, and the two connecting ears are rotatably connected to the two second connecting rods.

[0011] In some embodiments, the antagonistic spring structure includes a first spring and a second spring, the first spring and the second spring are connected in series, the first spring and the second spring are arranged along a third direction, and the third direction, the first direction, and the second direction are parallel to each other.

[0012] In some embodiments, the compliant mechanism satisfies the relationship: ∑x=2L(cosθ0-cosθ); wherein: x is the relative displacement of the input end, L is the length of the connecting rod, θ0 is the initial angle of the angle between the connecting rod connected to the input end and the first direction when the compliant mechanism is in equilibrium, that is, when the input end and the output end in the compliant mechanism are relatively stationary, and θ is the actual angle of the angle between the connecting rod connected to the input end and the first direction.

[0013] In some embodiments, when the compliant mechanism is in a balanced state, the compliant mechanism satisfies the relationship: Among them, F s is the elastic force of the antagonistic spring structure in the second direction when the compliant mechanism is in equilibrium, k is the equivalent stiffness of the antagonistic spring structure, x is the relative displacement of the input end, L is the length of the connecting rod, and θ0 is the initial angle between the connecting rod connected to the input end and the first direction.

[0014] In some embodiments, the Centaur robot also includes a support rod and a connecting shaft, one end of the support rod is connected to the input end, and the other end of the support rod is rotatably connected to the front end of the torso through the connecting shaft, so that the compliant mechanism can rotate around the connecting shaft; wherein, the axis of the connecting shaft is parallel to the fourth direction, and the fourth direction, the height direction of the Centaur robot and the moving direction of the robot body are perpendicular to each other.

[0015] In some embodiments, the length of the support rod is adjustable, and the support rod is at least used to change the height difference between the front end and the input end in the height direction of the Centaur robot.

[0016] In some embodiments, the support rod includes a first end connected to the input end and a second end connected to the connecting shaft, and in the height direction of the Centaur robot, the first end is located above the second end.

[0017] In some embodiments, the connecting member includes a back plate and a shoulder strap, the back plate is connected to the output end, and the shoulder strap can be bound to or passed through the target object.

[0018] In some embodiments, a force sensor is further included, and the force sensor is arranged between the front end of the torso and the input end, or the force sensor is arranged between the output end and the connecting member.

[0019] In some embodiments, the centaur robot also includes a driving mechanism arranged at the rear end of the torso, the driving mechanism including a first hip joint motor, a second hip joint motor and a knee joint motor, the first hip joint motor being used to drive the second hip joint motor, the knee joint motor and the mechanical leg to flip as a whole; the mechanical leg includes a thigh, a calf and a knee joint connecting rod transmission mechanism, the thigh is connected to the second hip joint motor, and the second hip joint motor is used to drive the thigh to flex or extend; the calf is connected to the knee joint motor through the knee joint connecting rod transmission mechanism, and the knee joint motor is used to drive the calf to flex or extend.

[0020] In some embodiments, the knee joint connecting rod transmission mechanism includes a crank, a knee joint and a knee joint connecting rod, the crank is connected to the knee joint motor, the calf and the thigh are rotatably connected through the knee joint, one end of the knee joint connecting rod is rotatably connected to the crank, and the other end of the knee joint connecting rod is rotatably connected to the calf and the thigh through the knee joint.

[0021] In some embodiments, the rotation shaft of the second hip joint motor and the rotation shaft of the knee joint motor are coaxially arranged.

[0022] In some embodiments, there are two driving mechanisms, and the two driving mechanisms are connected to the two mechanical legs in a one-to-one correspondence.

[0023] The beneficial effects of the Centaur robot provided by the present application are as follows: compared with the related art, the present application sets a compliant mechanism between the front end of the trunk of the robot body and the connecting piece, and the input end of the compliant mechanism can make a linear motion relative to the output end. At the same time, the compliant mechanism is configured to change the elastic potential energy of the compliant mechanism according to the relative displacement of the input end, release the elastic potential energy during the recovery process of the compliant mechanism, and act on the connecting piece through the output end, so as to adjust the acting force between the output end and the connecting piece, that is, the interaction force, in real time. Taking the target object as the human body as an example, that is to say, when the connecting piece of the Centaur robot is connected to the human body for movement, the Centaur robot is connected to the human body through the compliant mechanism and the connecting piece between the front end of the trunk and the human body. When the robot is carrying a load and moving on a rugged road, such as climbing a slope or going up and down stairs in different scenarios, the Centaur robot can change the interaction force between itself and the human body in real time according to the size and direction of the relative displacement of the input end, thereby accurately and stably controlling the human-computer interaction force, that is, determining the interaction force as a push or a pull. In this way, not only does the Centaur robot have good human-computer interaction coordination, but also reduces the energy consumption of the human body's movement; in addition, the compliant mechanism can play a buffering role, thereby making the human-computer interaction smoother. In summary, the Centaur robot in this application achieves the purpose of adjustable force, good coordination and smoother human-computer interaction for load-bearing human-computer interaction in multiple scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 A schematic diagram of the structure of a Centaur robot provided by some embodiments of the present application when connected to a heavy object or a human body;

[0026] Figure 2 for Figure 1 Schematic diagram of the structure of the Centaur robot and the heavy object from one perspective;

[0027] Figure 3 for Figure 1 A schematic diagram of the structure of the Centaur robot and the heavy object from another perspective;

[0028] Figure 4 for Figure 2 An exploded view of the Centaur robot in the game;

[0029] Figure 5 A schematic diagram of the structure of the compliance mechanism provided in some embodiments of the present application at one viewing angle;

[0030] Figure 6 for Figure 5 Schematic diagram of the structure of the compliant mechanism from another perspective;

[0031] Figure 7 for Figure 5 Schematic diagram of motion analysis of the compliant mechanism in ;

[0032] Figure 8 Schematic diagram of the antagonistic spring structure provided in some embodiments of the present application;

[0033] Figure 9 for Figure 5 The simulation curves of the equivalent stiffness of the compliant mechanism, the relative displacement of the input end, and the output force;

[0034] Figure 10 is a simulation curve diagram of the equivalent stiffness of the compliant mechanism, the relative displacement of the input end, and the output force when the initial angle between the first connecting rod and the first direction changes;

[0035] Figure 11 for Figure 3 An enlarged view of point I in FIG;

[0036] Figure 12 for Figure 3 Schematic diagram of the assembly of the torso and a mechanical leg;

[0037] Figure 13 for Figure 12 A schematic diagram of the structure of the trunk where the side panels and mechanical legs are connected without showing the connecting parts;

[0038] Figure 14 An exploded view of a mechanical leg provided for some embodiments of the present application;

[0039] Figure 15 for Figure 3Schematic diagram of the equivalent structure of the robot body in ;

[0040] Figure 16 for Figure 5 Adams simulation curve diagram of the compliant mechanism;

[0041] Figure 17 for Figure 5 Bench test curve of the physical prototype of the compliant mechanism.

[0042] Reference numerals:

[0043] 100, Centaur robot; 200, heavy object; 300, target object;

[0044] 10. Trunk; 101. Front accommodating area; 102. Rear accommodating area; 103. Upper layer; 104. Lower layer; 11. Front baffle; 12. Rear baffle; 13. Side panel; 14. First partition; 15. Second partition;

[0045] 20. Mechanical leg; 21. Thigh; 22. Calf; 23. Crank; 24. Knee joint; 25. Knee joint connecting rod;

[0046] 30. Compliant mechanism; 301. Input end; 302. Output end; 3021. Bottom plate; 3022. Sleeve; 3023. Connecting ear; 31. Four-bar linkage; 311. First connecting rod; 312. First connecting rod; 32. Antagonistic spring structure; 321. First spring; 322. Second spring; 33. Guide rail;

[0047] 40. Connector; 41. Backboard; 42. Strap;

[0048] 51. Support rod; 511. First end; 512. Second end; 52. Connecting shaft; 53. Force sensor; 54. Angle sensor; 55. Flange;

[0049] 60. Driving mechanism; 61. First hip joint motor; 62. Second hip joint motor; 63. Knee joint motor; 64. Hip joint; 65. Connector. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described 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 ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] In the description of this application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0052] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0053] 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 the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout this application, unless otherwise specified, "plurality" means two or more.

[0054] A load-bearing walking robot is an integrated wearable device that combines a human and a machine. Using sensors to determine the user's intentions, the robot follows and assists, alleviating fatigue from carrying heavy loads and for extended periods. A centaur robot is a load-bearing walking robot with a load-bearing mechanism. The front end of the mechanism connects to the human body, and the rear end is equipped with two mechanical legs. When connected to a human, the centaur robot and the human body form a structure similar to a human-horse.

[0055] The term "Centaur Robot" generally refers to a robot designed to mimic the form of a centaur (a humanoid upper body and a horse's lower body). This type of robot combines the dexterity of a human upper body with the stability of a quadrupedal lower limb, offering unique advantages in specific applications.

[0056] The centaur robot in related technology can only move on flat roads, with relatively simple application scenarios and poor coordination.

[0057] In order to solve the above problems, an embodiment of the present application provides a centaur robot.

[0058] like Figures 1 to 4 、 Figure 7 and Figure 11As shown, the Centaur robot 100 includes: a robot body, a compliance mechanism 30 and a connector 40. The robot body includes a trunk 10 and two mechanical legs 20. The trunk 10 is used to carry a heavy object 200. The mechanical legs 20 have three degrees of freedom and are connected to the rear end of the trunk 10. The connector 40 is used to connect to a target object 300, and the target object 300 has two legs. The compliance mechanism 30 is arranged between the front end of the trunk 10 and the connector 40. The compliance mechanism 30 includes an input end 301 and an output end 302. The output end 302 is connected to the connector 40, and the input end 301 can perform linear motion relative to the output end 302. The compliance mechanism 30 is configured to change the elastic potential energy of the compliance mechanism 30 according to the relative displacement of the input end 301 to adjust the force between the output end 302 and the connector 40.

[0059] The robot body and the connecting member 40 constitute the centaur robot 100 in the related art.

[0060] The trunk 10 is the main body of the robot and is used to carry the weight 200. The front and rear ends of the trunk 10 are opposite to each other. For example, when the Centaur robot 100 is moving forward, the front end in the direction of the Centaur robot 100's movement refers to the end of the trunk 10 connected to the target object 300. The target object 300 may be, but is not limited to, a human body.

[0061] The rear end of the trunk 10 is connected to two mechanical legs 20, which serve to support the trunk 10 and walk. The mechanical legs 20 have three degrees of freedom, the abduction / adduction joint of the hip joint 64, the flexion / extension joint of the hip joint 64, and the flexion and extension joint of the knee joint 24. This joint configuration enables the mechanical legs 20 to have similar movement capabilities to human legs, and can move flexibly in three-dimensional space, supporting all-round (all-round / all-directional) walking and posture adjustment. Through the coordinated movement of the two mechanical legs 20, the Centaur robot 100 can achieve six-degree-of-freedom center of mass motion control (position and posture), ensuring balance and maneuverability on various complex terrains. The joint layout of the mechanical legs 20 enables its range of motion to cover the main range required for human legs to walk, and can coordinate with human gait.

[0062] The front end of the torso 10 in the related art is connected to the human body through the connector 40 to achieve human-machine connection. In other words, the technical solution of this application is to add a compliant mechanism 30 between the front end of the torso 10 and the connector 40 of the centaur robot 100 in the related art.

[0063] Compliant mechanisms (30) are a type of mechanism that utilizes the elastic deformation of materials rather than traditional hinges or sliding pairs to achieve motion. Compliant mechanisms offer unique advantages in robotics, such as reduced friction, lubrication-free operation, lightweight design, high precision, and impact resistance.

[0064] The core of the compliance mechanism 30 in the technical solution of the present application is an adjustable spring structure, which is used to provide a flexible mutual force between the human and the machine, that is, an interactive force, so that a flexible force coupling is achieved between the Centaur robot 100 and the human body. The compliance mechanism 30 is configured to change the elastic potential energy of the compliance mechanism 30 according to the relative displacement of the input end 301, so as to adjust the force F between the output end 302 and the connecting member 40. h , i.e., the interaction force. In other words, the compliance mechanism 30 can be equivalent to a spring structure, satisfying: F h =Kx, where K is the equivalent stiffness of the compliance mechanism 30, i.e., the stiffness of the spring structure, and x is the relative displacement of the input end 301, i.e., the difference in the moving distance between the input end 301 and the output end 302. The force F of the compliance mechanism 30 is h The curves of the equivalent stiffness K of the compliant mechanism 30 and the relative displacement x of the input end 301 are shown as follows: Figure 9 and Figure 10 As shown, please refer to the detailed description of the compliance mechanism 30. When the input end 301 moves relative to each other, the elastic potential energy of the compliance mechanism 30 in the initial state is 0. When the input end 301 moves relative to each other, the balance of the compliance mechanism 30 is destroyed, so that the compliance mechanism 30 has a certain elastic potential energy. During the recovery process of the compliance mechanism 30, the elastic potential energy is released, which will generate a certain force on the output end 302, thereby adjusting the interaction force between the output end 302 and the connecting member 40 through the output end 302, thereby accurately and stably controlling the human-machine interaction force. In this way, not only does the Centaur robot 100 have good human-machine interaction coordination, but it also reduces the energy consumption of the human body when moving. In addition, the compliance mechanism 30 can play a buffering role, thereby making the human-machine interaction more flexible.

[0065] The relative displacement of the input terminal 301 is the difference between the displacements of the input terminal 301 and the output terminal 302. Assuming that the output terminal 302 is relatively stationary, the displacement of the input terminal 301 is equal to the relative displacement of the input terminal 301. The following description will take the example of the stationary output terminal 302 as an example.

[0066] The present application sets a compliant mechanism 30 between the front end of the trunk 10 of the robot body and the connecting member 40. The input end 301 of the compliant mechanism 30 can make a linear motion relative to the output end 302. At the same time, the compliant mechanism 30 is configured to change the elastic potential energy of the compliant mechanism 30 according to the relative displacement of the input end 301, release the elastic potential energy during the recovery process of the compliant mechanism 30, and act on the connecting member 40 through the output end to adjust the interaction force between the output end 302 and the connecting member 40 in real time. Taking the target object 300 as the human body as an example, that is, when the connecting member 40 of the Centaur robot 100 is connected to the human body for movement, the Centaur robot 100 is connected to the human body through the compliant mechanism 30 and the connecting member 40 between the front end of the trunk 10 and the human body. When the robot 100 is carrying a load and moving on a rough road, such as climbing a slope or going up and down stairs in different scenarios, the centaur robot 100 can change the interaction force between itself and the human body in real time according to the size and direction of the displacement of the input end 301, thereby accurately and stably controlling the human-computer interaction force, that is, determining the interaction force as a push or a pull. In this way, not only does the centaur robot 100 have good human-computer interaction coordination, but also reduces the energy consumption of the human body's movement; in addition, the compliant mechanism 30 can play a buffering role, thereby making the human-computer interaction smoother. In summary, the centaur robot 100 in the present application achieves the purpose of adjusting the human-computer interaction force when carrying a load, good coordination and smoother human-computer interaction in multiple scenarios.

[0067] It should be noted that the compliance mechanism 30 can adopt a spring structure with linear stiffness, or a spring structure with nonlinear stiffness. The stiffness of the compliance mechanism 30 here refers to the equivalent stiffness of the compliance mechanism 30, that is, the stiffness of the equivalent spring structure. If the compliance mechanism 30 adopts a spring structure with linear stiffness, when the stiffness is large, the response of the compliance mechanism 30 is fast, but the buffering effect is small, and the moving distance of the input end 301 is small, thereby making the control resolution of the compliance mechanism 30 low; when the stiffness is small, the moving distance of the input end 301 increases, thereby improving the control resolution of the compliance mechanism 30, but increasing the volume of the compliance mechanism 30, and at the same time, the response of the compliance mechanism 30 is slow.

[0068] Compared with the spring structure with linear stiffness adopted by the flexible mechanism 30, the flexible mechanism 30 adopts a nonlinear spring structure, so that the flexible mechanism 30 can achieve the purpose of fast response, high control resolution and strong buffering effect. The following text takes the flexible mechanism 30 adopting the spring structure with linear stiffness as an example to explain the structure of the flexible mechanism 30 in detail.

[0069] like Figures 5 to 7As shown, in this embodiment, the compliance mechanism 30 includes a four-bar linkage 31, an antagonistic spring structure 32, a guide rail 33 and an input end 301, and the input end 301 is a slider that slides with the guide rail 33; the guide rail 33 extends along a first direction, and one end of the guide rail 33 is connected to the four-bar linkage 31 through the input end 301, and the end of the guide rail 33 away from the input end 301 is connected to the four-bar linkage 31 to form an output end 302; the antagonistic spring structure 32 is connected between the four-bar linkage 31 along a second direction, and the antagonistic spring structure 32 is used to release elastic potential energy to apply an interactive force to the output end 302; wherein the first direction and the second direction are the directions of the two diagonals of the four-bar linkage 31, and the first direction is perpendicular to the second direction.

[0070] The four-bar linkage 31 includes four links, with two adjacent links rotatably connected. Two of the links are rotatably connected to either side of the input end 301 in the first direction, and the remaining two links are rotatably connected to either side of the input end 301 in the first direction. The four-bar linkage 31 may, but is not limited to, have a diamond-shaped structure, i.e., the four links are of equal length. In this embodiment, the link connected to the input end 301 is the first link 311, and the link connected to the output end 302 is the second link 312. In other words, the four-bar linkage 31 includes two first links 311 and two second links 312.

[0071] The antagonistic spring mechanism 32 is a mechanical design that utilizes two or more sets of springs (or other elastic elements) arranged in an antagonistic manner. This structure achieves specific functions by balancing the tension between the springs, such as adjustable stiffness, bidirectional motion control, or energy storage. In this embodiment, the antagonistic spring mechanism 32 may include, but is not limited to, two sets of springs.

[0072] The input end 301 and the output end 302 are connected through the compliance mechanism 30 and the antagonistic spring structure 32. When the input end 301 moves, the deformation of the antagonistic spring structure 32 is used to release elastic potential energy, so that the input end 301 of the compliance mechanism 30 can achieve bidirectional control and stiffness adjustment.

[0073] like Figure 5 and Figure 7As shown, in this embodiment, when the input end 301 moves, the compliance mechanism 30 satisfies the relationship: x = 2L (cosθ0-cosθ), wherein: x is the relative displacement of the input end 301, L is the length of the connecting rod, θ0 is the initial angle of the angle between the connecting rod connected to the input end 301, that is, the first connecting rod 311 and the first direction when the compliance mechanism 30 is in a balanced state, that is, when the input end 301 and the output end 302 in the compliance mechanism 30 are relatively stationary, and θ is the actual angle of the angle between the first connecting rod 311 and the first direction when the input end 301 moves relative to the output end 302.

[0074] like Figure 5 and Figure 7 As shown, in this embodiment, when the compliance mechanism 30 is in a balanced state, as shown in FIG. Figure 7 In the position shown by the dotted line, the compliance mechanism 30 satisfies the relationship: Among them, F s When the compliance mechanism 30 is in a balanced state, the elastic force of the spring structure 32 in the second direction is antagonized, such as Figure 7 As shown, k is the equivalent stiffness of the antagonistic spring structure 32, x is the relative displacement of the input end 301, L is the length of the connecting rod, and θ0 is the initial angle of the angle between the first connecting rod 311 and the first direction.

[0075] Elasticity F s With the force F h Satisfies the relationship:

[0076]

[0077] like Figure 7 As shown, when the input terminal 301 moves from position 301a to position 301b, the antagonistic spring structure 32 is stretched. At this time, F s In order to express as tension, according to the elastic force F s With the force F h Determine the force F h , Figure 7 The force F in h It is the force exerted by the connecting member 40 or the human body on the compliant mechanism 30.

[0078] Figure 6 shows a schematic structural diagram of the antagonistic spring structure 32, Figure 7 A schematic diagram of motion analysis of the compliant mechanism 30 is shown; Figure 8 The schematic diagram of the antagonistic spring structure 32 is shown in FIG. Figures 6 to 8As shown, in this embodiment, the antagonistic spring structure 32 includes a first spring 321 and a second spring 322, the first spring 321 and the second spring 322 are connected in series, the first spring 321 and the second spring 322 are arranged along a third direction, and the third direction, the first direction and the second direction are parallel to each other.

[0079] With the above arrangement, the compression amounts of the first spring 321 and the second spring 322 can be adjusted so that the elastic force of the antagonistic spring structure 32 satisfies the above relationship, thereby making the equivalent stiffness of the compliance mechanism 30 nonlinear.

[0080] The first spring 321 and the second spring 322 can be, but are not limited to, compression springs. The antagonistic spring structure 32 includes a first group of springs and a second group of springs, the first group of springs including two first springs 321, the two first springs 321 are connected in series, and the second group of springs including two second springs 322, the two second springs 322 are connected in series; the first spring 321 and the second spring 322 are pre-tightened and assembled on the spring slider in the second direction, one end of the compression spring is constrained by the spring slider, and the other end is constrained by the end of each spring shaft, but their arrangement is different. The outer end face of the first spring 321 is connected to the spring slider, while the second spring 322 is connected to the spring slider through the inner end face. This unique arrangement allows the two different compression springs to jointly generate an antagonistic force on the spring slider, such as Figure 8 As shown in F1 and F2 in the mechanism schematic diagram.

[0081] like Figure 7 and Figure 8 As shown, in this embodiment, the antagonistic spring structure 32 satisfies the relationship:

[0082] in, represents the length change of the compliance mechanism 30 in the second direction; Because the first spring 321 and the second spring 322 are connected in series, the corresponding compression of each spring is half of the change in diagonal length. According to the above analysis, the antagonistic spring pair composed of the first spring 321 and the second spring 322 can be equivalent to a stiffness of k of the linear tension spring.

[0083] According to the characteristics of the antagonistic spring pair being equivalent to the linear antagonistic spring structure along the second direction, when the human-machine produces relative displacement, the antagonistic spring structure applies a pulling force F to the connection end point in the second direction. s , thereby outputting thrust F at the horizontal end h ,like Figure 7Specifically, when the human body moves forward relative to the Centaur robot 100 (for example, the human accelerates forward or the robot lags behind slightly), causing the compliant mechanism 30 to be compressed by a displacement x relative to the initial state, the tension spring structure in the second direction is compressed, generating an inward contraction force F. s The pulling force is converted into a pair of forces at the output end 302 through the four-bar linkage 31, namely the extrusion force F h , acting respectively on the front end of the trunk 10 and the connecting member 40, indirectly acting on the back of the human body (at the center of mass).

[0084] Specifically, when the compliance mechanism 30 as a whole is not subject to external force, the first spring 321 will generate an antagonistic force corresponding to the pre-compression force of the second spring 322 to maintain the balance of the entire mechanism. When the antagonistic spring structure 32 is relatively compressed, assuming that the output end 302 is stationary, at this time, the first spring 321 is stretched and the second spring 322 is compressed, and the elastic forces of the two antagonize each other, so that the resultant force is inward. At the same time, the second spring 322 is arranged on the upper spring shaft, and the upper spring shaft consists of a long adjustment bolt and an adjustment nut. By rotating the adjustment bolt, the pre-compression amount of the second group of springs can be changed, thereby changing the elastic force of the second group of springs. The change in the second group of springs will cause the spring slider to translate, thereby adjusting the compression amount of the first group of springs accordingly, so that the compliance mechanism 30 remains balanced at the new mechanism angle. Therefore, the compliance mechanism 30 can modify the initial angle of the angle between the first connecting rod 311 and the first direction, thereby responding to the change in the output force F of the compliance mechanism 30. h Curve, force F h The simulation curves of the relative displacement x of the input end 301 and the equivalent stiffness K of the compliant mechanism 30 are as follows: Figure 9 and Figure 10 shown.

[0085] like Figure 5 As shown, in this embodiment, the first connecting rod 311 is provided with an angle sensor 54, and the angle sensor 54 is used to detect the angle between the first connecting rod 311 and the first direction.

[0086] The angle sensor 54 may be, but is not limited to, an encoder.

[0087] Through the above settings, combined with the structure of the compliance mechanism 30, the angle between the first connecting rod 311 and the first direction obtained by the angle sensor 54 can be used to calculate the moving distance of the input end 301, preparing for the subsequent antagonistic spring structure 32 elastic force.

[0088] In this embodiment, the Centaur robot 100 further includes a controller electrically connected to the angle sensor 54. The controller determines the movement distance of the input end 301 based on the angle between the first link 311 and the first direction, as detected by the angle sensor 54. This determines the elastic force of the antagonistic spring structure 32 and ultimately the magnitude of the interaction force between the compliant mechanism 30 and the human body. This allows for precise control and regulation of the interaction force between the Centaur robot 100 and the human body.

[0089] Of course, a displacement sensor may also be provided on the compliance mechanism 30 to directly measure the moving distance of the moving end, which is not specifically limited here.

[0090] The structure of the output terminal 302 is described in detail below.

[0091] like Figure 6 and Figure 11 As shown, in this embodiment, the output end 302 includes a base plate 3021, a sleeve 3022 and two connecting ears 3023. The sleeve 3022 is arranged on one side surface of the base plate 3021. The axis of the sleeve 3022 is parallel to the thickness direction of the base plate 3021. The sleeve 3022 is sleeved on the end of the guide rail 33 away from the input end 301. In the second direction, the two connecting ears 3023 are symmetrically arranged on the outer surface of the sleeve 3022. The connecting rod connected to the output end 302 is the second connecting rod 312. The two connecting ears 3023 are correspondingly rotatably connected to the two second connecting rods 312.

[0092] Through the above arrangement, not only is the output end 302 firmly connected to the four-bar linkage 31, but the design of the bottom plate 3021 is also conducive to increasing the contact area between the output end 302 and the connecting member 40, thereby making the output end 302 firmly connected to the connecting member 40 while helping to disperse the interaction force between the output end 302 and the human body through the connecting member 40.

[0093] In order to improve the firmness of the connection between the sleeve 3022 and the bottom plate 3021, two reinforcing ribs are provided on the outer surface of the sleeve 3022, and the two reinforcing ribs are spaced apart from the two connecting ears 3023. In this way, the reliability of the output end 302 is improved.

[0094] The connecting member 40 will be described in detail below.

[0095] like Figure 2 and Figure 4 As shown, in this embodiment, the connecting member 40 includes a back plate and a shoulder strap, the back plate is connected to the output end 302 , and the shoulder strap can be bound to or passed through the target object 300 .

[0096] The above-mentioned straps are connected to the human body.

[0097] After the shoulder strap of the connector 40 is tied to the human body or worn on the back of the human body, the back plate of the connector 40 fits the back of the human body, thus increasing the contact area with the human body and improving the wearing comfort.

[0098] like Figure 2 and Figure 4 As shown, in this embodiment, the back plate is arranged parallel to the bottom plate 3021 of the output end 302. In this way, the output end 302 and the connecting member 40 are firmly connected.

[0099] like Figure 4 As shown, in this embodiment, the harness includes two shoulder straps and a waist belt.

[0100] The shoulder straps can be worn on the shoulders of the human body, and the waist belt can be tied to the waist.

[0101] Through the above arrangement, the connection between the connecting member 40 and the human body is firm and comfortable.

[0102] Of course, the above-mentioned straps can also only include shoulder straps or waist belts.

[0103] like Figure 4 As shown, in this embodiment, the above-mentioned shoulder strap can be connected to the shoulder strap via a pad. The pad can be, but is not limited to, made of elastic materials such as sponge, so that it can play a buffering role, thereby further improving comfort.

[0104] Of course, in other embodiments, the shoulder strap may also be directly connected to the backboard, which is not specifically limited here.

[0105] like Figure 6 and Figure 11 As shown, in this embodiment, the Centaur robot 100 further includes a support rod 51 and a connecting shaft 52. One end of the support rod 51 is connected to the input end 301, and the other end of the support rod 51 is rotatably connected to the front end of the torso 10 via the connecting shaft 52, so that the compliance mechanism 30 can rotate about the connecting shaft 52. The axis of the connecting shaft 52 is parallel to the fourth direction, and the fourth direction, the height direction of the Centaur robot 100, and the direction of travel of the robot body are all perpendicular to each other. In this embodiment, the fourth direction is parallel to the fourth direction.

[0106] By rotating the support rod 51 around the connecting shaft 52, the plane where the compliance mechanism 30 is located is changed, for example, Figure 2As shown, in the initial state, the plane where the compliance mechanism 30 is located is parallel to the horizontal plane and the ground. When the centaur moves on the rugged ground, the compliance mechanism 30 as a whole rotates along with the support rod 51 and the connecting shaft 52, so that the plane where the compliance mechanism 30 is located changes, that is, the compliance mechanism 30 is inclined relative to the horizontal plane. In this way, it can not only adapt to road conditions with different slopes, up and down slopes or up and down stairs, etc., but also, without changing the robot body, it can adapt to wearers of different heights, and has a wide range of applications.

[0107] like Figure 2 and Figure 11 As shown, in this embodiment, the support rod 51 includes a first end 511 connected to the input end 301 and a second end 512 connected to the connecting shaft 52. In the height direction of the Centaur robot 100, the first end 511 is located above the second end 512.

[0108] The support rod 51 may be, but is not limited to, tilted relative to the third direction.

[0109] Through the above arrangement, the front end of the trunk 10 and the input end 301 of the compliance mechanism 30 are aligned with the moving direction of the Centaur robot 100 ( Figure 2 The staggered arrangement in the horizontal direction (i.e., the first direction) and the third direction is beneficial to optimizing the spatial arrangement of the connection between the torso 10 and the flexible mechanism 30.

[0110] In some embodiments, the length of the support rod 51 is adjustable, at least for varying the height difference between the front end and the input end 301 in the height direction of the Centaur robot 100. Specifically, as the support rod 51 rotates about the connecting axis 52, the distance between the connecting axis 52 and the input end 301 in the first and third directions changes. This allows the length of the support rod 51 to be adjusted to accommodate different body heights, allowing the connector 40 to adapt to the individual. In other embodiments, the length of the support rod 51 is not adjustable, which is not specifically defined herein.

[0111] like Figure 2 and Figure 11 As shown, in this embodiment, the Centaur robot 100 further includes a force sensor 53 .

[0112] The force sensor 53 is used to detect the interaction force between the Centaur robot 100 and the human body. The force sensor 53 can be, but is not limited to, a six-axis force sensor.

[0113] The six-axis force sensor is a precision measuring device that can simultaneously measure forces in three directions (Fx, Fy, Fz) and moments in three directions (Mx, My, Mz).

[0114] It should be noted that xyz here refers to the three coordinate axes of the Centaur robot 100 in the absolute coordinate system, wherein the z axis is the height direction of the Centaur robot 100.

[0115] When the compliant mechanism 30 is in xoy, the first direction and the second direction are parallel to the x-axis and the y-axis respectively. At this time, the interaction force between the human body and the Centaur robot 100 is mainly the force in the x-axis, that is, the first direction. Of course, in the embodiment of the present application, since the compliant mechanism 30 is rotatably connected to the front end of the torso 10 through the support rod 51 and the connecting shaft 52, the compliant mechanism 30 can rotate relative to the torso 10, that is, the compliant mechanism 30 can be tilted relative to the z-axis. At this time, the input end 301 and the output end 302 are not coplanar, and the modulus of the interaction force of the compliant mechanism 30 at the input end 301 and the output end 302 is always equal, that is, the magnitude of the interaction force between the human body and the Centaur robot 100 remains unchanged, but the direction has changed.

[0116] like Figure 2 and Figure 11 As shown, in this embodiment, the force sensor 53 is disposed between the front end of the trunk 10 and the input end 301. This allows the human-machine interaction force to be measured, not only improving the detection accuracy, but also facilitating further space utilization of the Centaur robot 100.

[0117] like Figure 2 、 Figure 11 and Figure 12 As shown, in this embodiment, the force sensor 53 is arranged on the front baffle 11 of the torso 10. The force sensor 53 is provided with a flange 55. The flange 55 is rotatably connected to the connecting shaft 52 so that the support rod 51 can rotate around the connecting shaft 52 relative to the flange 55.

[0118] The force sensor 53 is used to detect the interaction force between the compliance mechanism 30 and the connector 40. Since the compliance mechanism 30 is a spring structure, the interaction force between the input end 301 and the output end 302 of the compliance mechanism 30 is a pair of action and reaction forces, equal in magnitude and opposite in direction. It should be noted that when the input end 301 and the output end 302 are not coplanar, coordinate transformation is required. However, the modulus of the interaction force between the input end 301 and the output end 302 mentioned here is always equal. In other embodiments, the force sensor 53 can also be located between the output end 302 and the connector 40. This is not a specific limitation.

[0119] The robot body is described in detail below.

[0120] like Figure 3 、 Figures 12 to 14As shown, in this embodiment, the centaur robot 100 also includes a driving mechanism 60 arranged at the rear end of the torso 10, the driving mechanism 60 includes a first hip joint motor 61, a second hip joint motor 62 and a knee joint motor 63, the first hip joint motor 61 is used to drive the second hip joint motor 62, the knee joint motor 63 and the mechanical leg 20 to flip as a whole; the mechanical leg 20 includes a thigh 21, a calf 22 and a knee joint connecting rod 25 transmission mechanism, the thigh 21 is connected to the second hip joint motor 62, the second hip joint motor 62 is used to drive the thigh 21 to flex or extend; the calf 22 is connected to the knee joint motor 63 through the knee joint connecting rod 25 transmission mechanism, and the knee joint motor 63 is used to drive the calf 22 to flex or extend.

[0121] The three degrees of freedom of the robotic leg 20 refer to the flexion / extension of the thigh 21, i.e., the hip joint 64; the flexion / extension of the knee joint 24 of the calf 22; and the overall flipping of the robotic leg 20. Specifically, the flipping of the hip joint 64 connecting the robotic leg 20 to the trunk 10 enables the overall flipping of the robotic leg 20. The first hip joint motor 61 enables the abduction / adduction joint of the hip joint 64; the second hip joint motor 62 enables the flexion / extension joint of the hip joint; and the knee joint motor 63 enables the flexion and extension joint of the knee joint 24. This joint configuration enables the robotic leg 20 to have similar movement capabilities to a human leg, allowing it to move flexibly in three-dimensional space and support all-round (all-directional / omnidirectional) walking and posture adjustment. Through the coordinated movement of the two robotic legs 20, the Centaur robot 100 can achieve six degrees of freedom of center of mass motion control (position and posture), ensuring balance and maneuverability on various complex terrains. The joint layout of the robotic leg 20 allows its range of motion to cover the main range required for human walking and can coordinate with human gait.

[0122] By arranging the drive mechanism 60 at the rear end of the torso 10, not only does the mechanical leg 20 have three degrees of freedom, but the center of gravity of the torso 10 is also moved backward, that is, the center of gravity of the torso 10 is close to the rear end. This layout optimizes the overall mass distribution during human-machine coupling, that is, the interference of the weight and size of the Centaur robot 100 on human walking is minimized as much as possible, so that the Centaur robot 100 has better stability and better coordination when moving; moreover, the calf 22 is connected to the knee joint motor 63 through the knee joint connecting rod 25 transmission mechanism, and the knee joint motor 63 is used to drive the calf 22 to flex or extend. In this way, on the one hand, the structure of the mechanical leg 20 is optimized, and on the other hand, the weight of the mechanical leg 20 is reduced, the flexibility of the movement of the mechanical leg 20 is improved, and at the same time, the load of the drive mechanism 60 is reduced, that is, the weight of the drive mechanism 60 is reduced, and the overall weight of the robot body is reduced.

[0123] The trunk 10 is a symmetrical double "spine" plate structure. Figure 12As shown, the torso 10 includes a front baffle 11, a rear baffle 12 and two side panels 13 connected to the front baffle 11 and the rear baffle 12 and spaced apart. The front end of the torso 10 is the end close to the front baffle 11, and the force sensor 53 is connected to the front baffle 11; the rear end of the torso 10 is the end of the torso 10 close to the rear baffle 12, and the two side panels 13 are similar to double "spine" panels, thereby realizing a double "spine" panel structure.

[0124] A first partition 14 is provided between the two side panels 13 , dividing the trunk 10 into a front accommodating area 101 and a rear accommodating area 102 along the moving direction of the Centaur robot 100 .

[0125] Typically, the centaur robot 100 also includes a battery, a controller, a computing unit, and various sensors. The battery is located in the front housing area 101, while the controller, computing unit, and various sensors are located in the rear housing area 102. Specifically, a second partition 15 is provided between the two side panels 13, dividing the torso 10 into an upper layer 103 and a lower layer 104 along the height of the centaur robot 100. The controller, computing unit, and various sensors are placed in the upper and lower layers 103 and 104 as needed. This arrangement shifts the center of gravity of the centaur robot 100 as far back as possible. This layout optimizes the overall mass distribution during human-machine coupling and minimizes the interference of the centaur robot 100's weight and size with the natural human walking process.

[0126] During the design process, the torso 10 is typically constructed from a high-strength, lightweight carbon fiber material. This ensures that the torso 10 provides sufficient structural strength while also reducing its own weight. In the embodiment of the present application, the torso 10 of the Centaur robot 100 measures approximately 630mm (length) x 140mm (width) x 240mm (height), making it compact and easy for a person to carry. The mechanical legs 20 utilize a carbon fiber skeleton, and the optimized mass distribution design ensures that the robot body provides sufficient strength to support the load while minimizing the impact on the wearer's movements.

[0127] like Figure 13 and Figure 14 As shown, in this embodiment, the knee joint connecting rod 25 transmission mechanism includes a crank 23, a knee joint 24 and a knee joint connecting rod 25, the crank 23 is connected to the knee joint motor 63, the calf 22 and the thigh 21 are rotatably connected through the knee joint 24, one end of the knee joint connecting rod 25 is rotatably connected to the crank 23, and the other end of the knee joint connecting rod 25 is rotatably connected to the calf 22 and the thigh 21 through the knee joint 24.

[0128] Through the above-mentioned setting, the transmission mechanism of the calf 22, thigh 21 and knee joint connecting rod 25 in the mechanical leg 20 constitutes a crank 23 rocker mechanism, so that the mechanical leg 20 has a parallelogram link mechanism, which not only realizes three degrees of freedom but also further optimizes the structure of the mechanical leg 20 and reduces the overall weight of the mechanical leg 20, which is beneficial to improving the reliability of the mechanical leg 20 and making the mechanical leg 20 move reliably.

[0129] like Figure 3 As shown, in this embodiment, there are two drive mechanisms 60, and the two drive mechanisms 60 are connected to the two robotic legs 20 in a one-to-one correspondence. In this way, the two robotic legs 20 can be independently controlled by the corresponding drive mechanisms 60, which is conducive to improving the control accuracy of the robotic legs 20.

[0130] like Figure 2 、 Figure 13 and Figure 14 As shown, in this embodiment, the rotation shaft of the second hip joint motor 62 and the rotation shaft of the knee joint motor 63 are coaxially arranged.

[0131] Through the above-mentioned arrangement, the second hip joint motor 62 and the knee joint motor 63 are similar to a symmetrical arrangement. In this way, not only the moment of inertia at the knee joint 24 and the weight on the distal end of the leg are greatly reduced, which is beneficial to improving control response and reducing energy consumption, but also it is beneficial to reduce the overall space occupied by the drive mechanism 60. In addition, it is convenient to connect the second hip joint motor 62 and the knee joint motor 63 together through the connecting piece 65 and then connect them to the first hip joint motor 61, thereby improving the space utilization of the robot body.

[0132] like Figure 12 、 Figure 13 and Figure 15 As shown, specifically, the second hip joint motor 62 and the first hip joint motor 61 are arranged on the side plate 13 of the torso 10, the first hip joint motor 61 is connected to the second hip joint motor 62 through the hip joint 64, the second hip joint motor 62 and the knee joint motor 63 are connected through the connecting piece 65, the axis of the rotating shaft of the first hip joint motor 61 is parallel to the axis of the crank 23, and there is an offset distance between the axis of the rotating shaft of the first hip joint motor 61 and the axis of the thigh 21, that is, in the axial direction of the rotating shaft of the second hip joint motor 62, the distance between the axis of the rotating shaft of the first hip joint motor 61 and the axis of the thigh 21 is l ext ,like Figure 13 shown.

[0133] Figure 15A simplified diagram of the equivalent motion of the robotic leg 20 in the robot body relative to the torso 10 is shown. The robotic leg 20 has a parallelogram-shaped linkage mechanism, which can be equated to a robotic leg 20 having three serial joints: l1, l2, and l3. l1 is the length of the hip joint 64, specifically the distance between the axis of the first hip joint motor 61 and the axis of the thigh 21. l2 is the length of the thigh 21, and l3 is the length of the shank 22. Taking the right robotic leg 20 of the Centaur robot 100 as an example, the DeNavit-Hartenberg (DH) parameters of this robotic leg 20 are shown in Table 1.

[0134] Table 1

[0135]

[0136] Figure 15 The dashed configuration in shows the defined initial zero state of the robotic leg 20, where both the joint angles and the motor angles are defined as zero. The joint angles of the robotic leg 20 in the series configuration are denoted as q1, q2, and q3. Figure 15 In the figure, q1 is the joint angle of the hip joint 64, q2 is the joint angle of the thigh 21, and q3 is the joint angle of the calf 22, that is, the joint angle of the calf 22 relative to the thigh 21. knee is the joint angle at the knee joint 24, q knee =The sum of q2 and q3; the joint angle of the mechanical leg 20 is equal to the joint angle q2 of the thigh 21. The mechanical leg 20 of the present application, based on the geometric relationship of the parallelogram mechanism, can map the joint angles of the series configuration to the motor angles. After mapping, the corresponding motor angles are expressed as follows: the joint angle of the first hip joint motor 61 is q1; the joint angle of the second hip joint motor 62 is q2; the joint angle of the knee joint motor 63 is q knee , which is equal to the sum of q2 and q3.

[0137] Combine Figure 15 The key dimensions and joint motion range of the robotic leg 20 have been optimized to avoid mechanical interference and meet the requirements of human-machine collaboration. The DH parameters of the robotic leg 20 are shown in Table 1. These dimensions and kinematic parameters ensure that the robotic leg 20 has sufficient step length and lift height to adapt to obstacles while not affecting normal human gait. Each robotic leg 20 is driven by a high-performance motor, delivering a peak torque output of approximately 140 N·m, capable of supporting and driving heavy loads.

[0138] Combined with the above design, the robot body is able to transfer the wearer's load through its rigid torso 10 to its two powerful mechanical legs 20, which then support the wearer on the ground through its four legs (human and robotic). The high-strength backbone frame 10 and high-torque joint design ensure that the robot body can withstand heavy loads, maintain stability during walking, and prevent deformation and imbalance, thereby reliably sharing the wearer's weight.

[0139] 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 the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A centaur robot, characterized in that: include: A robot body comprises a trunk (10) and two mechanical legs (20), wherein the trunk (10) is used to carry a heavy object (200), the mechanical legs (20) have three degrees of freedom, and the mechanical legs (20) are connected to the rear end of the trunk (10); a connecting member (40), the connecting member (40) being used to connect to a target object (300), the target object (300) having two legs; A compliance mechanism (30) is provided between the front end of the trunk (10) and the connecting member (40), the compliance mechanism (30) comprising an input end (301) and an output end (302), the output end (302) being connected to the connecting member (40), and the input end (301) being capable of linear motion relative to the output end (302); The compliance mechanism (30) is configured to change the elastic potential energy of the compliance mechanism (30) according to the relative displacement of the input end (301), thereby adjusting the acting force between the output end (302) and the connecting member (40).

2. The centaur robot according to claim 1, characterized in that: The compliant mechanism (30) is a spring structure, and the stiffness of the spring structure is nonlinear.

3. The Centaur robot according to claim 1, characterized in that: The compliant mechanism (30) includes a four-bar linkage (31), an antagonistic spring structure (32), a guide rail (33), and the input end (301), wherein the input end (301) is a slider that is slidably engaged with the guide rail (33); The guide rail (33) extends along a first direction, one end of the guide rail (33) is connected to the four-bar linkage (31) via the input end (301), and the output end (302) is formed at the connection between the end of the guide rail (33) away from the input end (301) and the four-bar linkage (31); The antagonistic spring structure (32) is connected between the four-bar linkage (31) along a second direction, and the antagonistic spring structure (32) is used to release the elastic potential energy to apply the action force to the output end (302); The first direction and the second direction are directions of two diagonals of the four-bar linkage mechanism, and the first direction is perpendicular to the second direction.

4. The Centaur robot according to claim 3, characterized in that: The four-bar linkage (31) includes four connecting rods, two adjacent connecting rods are rotatably connected, two of which are rotatably connected to both sides of the input end (301) in the first direction, and the remaining two connecting rods are rotatably connected to both sides of the input end (301) in the first direction, and the lengths of the four connecting rods are equal.

5. The Centaur robot according to claim 4, characterized in that: The connecting rod connected to the input end (301) is a first connecting rod (311), and the first connecting rod (311) is provided with an angle sensor (54), and the angle sensor (54) is used to detect the angle between the first connecting rod (311) and the first direction.

6. The Centaur robot according to claim 4, characterized in that: The output end (302) comprises a base plate (3021), a sleeve (3022) and two connecting ears (3023). The sleeve (3022) is arranged on a side surface of the base plate (3021). The axis of the sleeve (3022) is parallel to the thickness direction of the base plate (3021). The sleeve (3022) is sleeved on the end of the guide rail (33) away from the input end (301). In the second direction, the two connecting ears (3023) are symmetrically arranged on the outer surface of the sleeve. The connecting rod connected to the output end (302) is a second connecting rod (312). The two connecting ears (3023) are correspondingly rotatably connected to the two second connecting rods (312).

7. The Centaur robot according to claim 3, characterized in that: The antagonistic spring structure (32) includes a first spring (321) and a second spring (322), wherein the first spring (321) and the second spring (322) are connected in series, and the first spring (321) and the second spring (322) are arranged along a third direction, and the third direction, the first direction and the second direction are parallel to each other.

8. The centaur robot according to any one of claims 4 to 7, characterized in that: The compliant mechanism (30) satisfies the relationship: x=2L(cosθ0-cosΩ) Wherein: x is the relative displacement of the input end (301), L is the length of the connecting rod, θ0 is the initial angle of the angle between the connecting rod connected to the input end (301) and the first direction when the compliant mechanism (30) is in a balanced state, that is, when the input end (301) and the output end (302) in the compliant mechanism (30) are relatively stationary, and θ is the actual angle of the angle between the connecting rod connected to the input end (301) and the first direction; and / or, When the compliant mechanism (30) is in a balanced state, the compliant mechanism (30) satisfies the relationship: Among them, F s is the elastic force of the antagonistic spring structure in the second direction when the compliant mechanism (30) is in a balanced state, k is the equivalent stiffness of the antagonistic spring structure, x is the relative displacement of the input end (301), L is the length of the connecting rod, and θ0 is the initial angle between the connecting rod connected to the input end (301) and the first direction.

9. The centaur robot according to any one of claims 1 to 7, characterized in that: The centaur robot further comprises a support rod (51) and a connecting shaft (52), one end of the support rod (51) being connected to the input end (301), and the other end of the support rod (51) being rotatably connected to the front end of the trunk (10) via the connecting shaft (52), so that the compliant mechanism (30) can rotate around the connecting shaft (52); wherein the axis of the connecting shaft (52) is parallel to a fourth direction, and the fourth direction, the height direction of the centaur robot and the moving direction of the robot body are perpendicular to each other.

10. The centaur robot according to claim 9, characterized in that: The length of the support rod (51) is adjustable, and the support rod (51) is at least used to change the height difference between the front end and the input end (301) in the height direction of the Centaur robot; And / or, the support rod (51) includes a first end connected to the input end (301) and a second end connected to the connecting shaft (52), and in the height direction of the Centaur robot, the first end is located above the second end.

11. The centaur robot according to any one of claims 1 to 7, characterized in that: The connecting member (40) comprises a back plate (41) and a shoulder strap (42), wherein the back plate (41) is connected to the output end (302), and the shoulder strap (42) can be bound to or passed through the target object (300).

12. The centaur robot according to any one of claims 1 to 7, characterized in that: Also included is a force sensor (53), The force sensor (53) is arranged between the front end of the trunk (10) and the input end (301), or the force sensor (53) is arranged between the output end (302) and the connecting member (40).

13. The centaur robot according to any one of claims 1 to 7, characterized in that: The invention also includes a driving mechanism (60) arranged at the rear end of the trunk (10), the driving mechanism (60) including a first hip joint motor (61), a second hip joint motor (62) and a knee joint motor (63), wherein the first hip joint motor (61) is used to drive the second hip joint motor (62), the knee joint motor (63) and the mechanical leg (20) to flip as a whole; The mechanical leg (20) comprises a thigh (21), a shank (22) and a knee joint connecting rod transmission mechanism, wherein the thigh (21) is connected to the second hip joint motor (62), and the second hip joint motor (62) is used to drive the thigh (21) to flex or extend; the shank (22) is connected to the knee joint motor (63) through the knee joint connecting rod transmission mechanism, and the knee joint motor (63) is used to drive the shank (22) to flex or extend.

14. The Centaur robot according to claim 13, characterized in that: The knee joint connecting rod transmission mechanism comprises a crank (23), a knee joint (24) and a knee joint connecting rod (25), wherein the crank (23) is connected to the knee joint motor (63), the calf (22) and the thigh (21) are rotatably connected via the knee joint (24), one end of the knee joint connecting rod (25) is rotatably connected to the crank (23), and the other end of the knee joint connecting rod (25) is rotatably connected to the calf (22) and the thigh (21) via the knee joint (24).

15. The Centaur robot according to claim 14, characterized in that: The rotating shaft of the second hip joint motor (62) and the rotating shaft of the knee joint motor (63) are coaxially arranged; And / or, the number of the driving mechanisms (60) is two, and the two driving mechanisms (60) are connected to the two mechanical legs (20) in a one-to-one correspondence.

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