Humanoid robot with flying function

Abstract

The invention provides a humanoid robot with a flying function, the humanoid robot comprises a robot body and at least one folding and unfolding device used for driving the robot body to achieve the flying function, the robot body comprises a head part and a trunk part, and the trunk part is provided with a plurality of upper limb assemblies and a plurality of leg assemblies; the folding and unfolding device is arranged on the side face of the trunk part, the folding and unfolding device and the upper limb assemblies are arranged in a staggered mode, and the folding and unfolding device can be folded or unfolded relative to the trunk part. According to the embodiment of the invention, the folding and unfolding device is arranged on the robot body, so that the humanoid robot can fly and work, stably walk on the ground or stably fly in the air and complete complex tasks at the same time, can fly in various postures in the air, and has very high maneuverability and multi-modal motion ability.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of robots, in particular to a humanoid robot with flight function. BACKGROUND

[0002] Humanoid robots have important applications in many fields such as modern industry, logistics, rescue, etc. Currently, humanoid robots mainly rely on the mechanical structure of the legs to walk, run and other actions when moving. However, this moving method has great limitations when facing some special terrains or obstacles that cannot be crossed. For example, in the wild environment, there may be obstacles such as deep pits, high walls, rivers, etc., which will greatly limit the action range and task execution ability of the humanoid robot.

[0003] Currently, in order to overcome terrain obstacles, some robots adopt a tracked, wheeled or transformable structure design, but these designs often have different problems in complex environments, such as tracked sinking easily on soft ground, wheeled driving difficult on rugged terrain, and transformable structure having complex structure and low reliability. In addition, in some key scenarios, there are very high requirements for the mobility and obstacle crossing ability of the robot. The existing humanoid robot technology is difficult to meet the needs of these scenarios, and there is a lack of solutions that can effectively cross various obstacles and have high mobility in important task scenarios. SUMMARY

[0004] The purpose of the embodiments of the present disclosure is to provide a humanoid robot with flight function to solve the above problems existing in the prior art.

[0005] In order to solve the above technical problems, the embodiments of the present disclosure provide a humanoid robot with flight function, comprising a robot body and at least one folding and unfolding device for driving the robot body to realize the flight function, the robot body comprising a head and a torso, a plurality of upper limb assemblies and a plurality of leg assemblies are arranged on the torso, the folding and unfolding device is arranged on the side of the torso and is arranged in a staggered manner with the upper limb assemblies, and the folding and unfolding device can be folded or unfolded relative to the torso.

[0006] In some embodiments, a plurality of folding and unfolding devices are symmetrically arranged relative to the torso.

[0007] In some embodiments, the folding and unfolding device comprises a mounting member connected with the torso, a mechanical arm assembly and a connecting rod assembly are arranged on the mounting member, a propeller motor and a propeller assembly are further arranged on the mechanical arm assembly, and the connecting rod assembly is used to drive the mechanical arm assembly to fold or unfold.

[0008] In some embodiments, the mechanical arm assembly comprises a plurality of mechanical arms connected in sequence, a proximal end of the mechanical arm assembly is connected with the mounting member, the propeller motor and the propeller assembly are arranged at a distal end of the mechanical arm assembly; the connecting rod assembly is connected with the mechanical arm assembly and comprises a plurality of connecting rods connected in sequence.

[0009] In some embodiments, the mounting member comprises a mounting member body, an end of the mounting member body is provided with a connecting seat, a sliding groove is arranged on the mounting member body, the sliding groove is arranged along a length direction of the mounting member body, and a movable sliding block is arranged in the sliding groove.

[0010] In some embodiments, the mechanical arm assembly comprises a first mechanical arm, a second mechanical arm and a third mechanical arm connected in sequence, an end of the second mechanical arm has an extension section, the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod connected in sequence, a first end of the first mechanical arm is rotatably connected with the connecting seat, a first end of the first connecting rod is rotatably connected with the sliding block, a second end of the first connecting rod is rotatably connected with a middle part of the first mechanical arm, a first end of the second connecting rod is rotatably connected with a middle part of the first connecting rod, a second end of the second connecting rod is rotatably connected with a first end of the third connecting rod, a middle part of the third connecting rod is rotatably connected with the extension section of the second mechanical arm, and a second end of the third connecting rod is rotatably connected with a middle part of the third mechanical arm.

[0011] In some embodiments, the first mechanical arm has a first accommodating groove, the third mechanical arm has a second accommodating groove, the second end of the first connecting rod extends into the first accommodating groove and is rotatably connected with a groove wall of the first accommodating groove, and the second end of the third connecting rod extends into the second accommodating groove and is rotatably connected with a groove wall of the second accommodating groove.

[0012] In some embodiments, a driving assembly is arranged in the trunk, the driving assembly comprises a driving motor and a connecting disc, the driving motor is connected with the trunk, an output end of the driving motor is connected with the connecting disc and drives the connecting disc to move along a straight line.

[0013] In some embodiments, the connecting disc comprises a disc-shaped connecting disc body, the connecting disc body has a central symmetry structure and a plurality of hollow parts, the plurality of hollow parts are arranged radially relative to a center of the connecting disc body, and the mounting member of the folding and unfolding device can pass through the hollow parts.

[0014] In some embodiments, a protrusion is arranged on an inner wall of the hollow part away from the center of the connecting disc body, and the protrusion is connected with a bottom of a corresponding sliding block.

[0015] In some embodiments, the driving assembly further comprises a locking motor, an output end of the locking motor is provided with a locking member, and the locking member is used to limit the operation of the driving motor.

[0016] In some embodiments, a bottom of the trunk is connected with a hip part, the hip part rotates around an axis of the trunk, and the leg assembly is arranged on the hip part.

[0017] In some embodiments, one upper limb assembly is arranged on each side of the trunk, or a plurality of upper limb assemblies are arranged on each side of the trunk.

[0018] The embodiment of the present disclosure can realize flight and work by arranging the folding and unfolding device on the robot body, so that the humanoid robot can complete complex tasks while stably walking on the ground or stably flying in the air, and can realize various attitude flights in the air, has strong maneuverability and multi-modal motion ability. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0020] Figure 1 A perspective structural schematic diagram of a humanoid robot provided by the embodiment of the present disclosure (the folding and unfolding device is in an unfolded state);

[0021] Figure 2 A perspective structural schematic diagram of a humanoid robot provided by the embodiment of the present disclosure (the folding and unfolding device is in a folded state);

[0022] Figure 3 A side view of a humanoid robot provided by the embodiment of the present disclosure (the folding and unfolding device is in an unfolded state);

[0023] Figure 4 A side view of a humanoid robot provided by the embodiment of the present disclosure (the folding and unfolding device is in a folded state);

[0024] Figure 5 A front view of a humanoid robot provided by the embodiment of the present disclosure (the folding and unfolding device is in an unfolded state);

[0025] Figure 6 A front view of a humanoid robot provided by the embodiment of the present disclosure (the folding and unfolding device is in a folded state);

[0026] Figure 7 A perspective view of the folding and unfolding device in a humanoid robot according to an embodiment of the present disclosure (the folding and unfolding device is in an unfolded state);

[0027] Figure 8 A sectional view of the folding and unfolding device in a humanoid robot according to an embodiment of the present disclosure;

[0028] Figure 9 A perspective view of the folding and unfolding device in a humanoid robot according to an embodiment of the present disclosure (the folding and unfolding device is in a folded state);

[0029] Figure 10 (a)-(c) are schematic views of variations of the folding and unfolding device according to an embodiment of the present disclosure;

[0030] Figure 11 A connected perspective view of the folding and unfolding device in a humanoid robot according to an embodiment of the present disclosure (the folding and unfolding device is in an unfolded state);

[0031] Figure 12 A connected perspective view of the folding and unfolding device in a humanoid robot according to an embodiment of the present disclosure (the folding and unfolding device is in a folded state);

[0032] Figure 13 A connected plan view of the folding and unfolding device in a humanoid robot according to an embodiment of the present disclosure (the folding and unfolding device is in an unfolded state);

[0033] Figure 14 A connected plan view of the folding and unfolding device in a humanoid robot according to an embodiment of the present disclosure (the folding and unfolding device is in a folded state);

[0034] Figure 15 An installation schematic view of a driving assembly in a humanoid robot according to an embodiment of the present disclosure;

[0035] Figure 16 A structural schematic view of a connecting disc in a driving assembly in a humanoid robot according to an embodiment of the present disclosure;

[0036] Figure 17 An installation schematic detail view of a driving assembly in a humanoid robot according to an embodiment of the present disclosure (one of two);

[0037] Figure 18 An installation schematic detail view of a driving assembly in a humanoid robot according to an embodiment of the present disclosure (two of two).

[0038] Reference signs:

[0039] 1 - mount; 11 - mount body; 12 - connecting seat; 13 - sliding groove; 14 - sliding block; 2 - mechanical arm assembly; 21 - first mechanical arm; 211 - first accommodating groove; 22 - second mechanical arm; 221 - extension section; 23 - third mechanical arm; 231 - second accommodating groove; 3 - connecting rod assembly; 31 - first connecting rod; 32 - second connecting rod; 33 - third connecting rod; 4 - motor; 5 - propeller assembly; 100 - robot body; 110 - trunk; 111 - hip; 120 - head; 130 - upper limb assembly; 131 - upper limb connecting piece; 132 - upper arm unit; 133 - lower arm unit; 140 - leg assembly; 141 - leg connecting piece; 142 - upper leg unit; 143 - lower leg unit; 144 - foot unit; 200 - folding and unfolding device; 300 - driving assembly; 301 - driving motor; 3011 - output section; 3012 - driving shaft; 302 - connecting disc; 3021 - connecting disc body; 3022 - hollow part; 3023 - protrusion; 303 - locking motor. DETAILED DESCRIPTION

[0040] Various aspects and features of the present disclosure are described herein below with reference to the accompanying drawings.

[0041] It is to be understood that various modifications can be made to the embodiments described herein. Thus, the description is not to be considered as limiting, but merely as a description of exemplary embodiments. Other modifications of the disclosure will occur to those skilled in the art upon reading the present disclosure.

[0042] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0043] These and other characteristics of the present disclosure will become apparent from the following description of the preferred forms thereof given with reference to the accompanying drawings.

[0044] It is also to be understood that even though a few specific embodiments of the present disclosure have been described and illustrated, the present disclosure is not to be limited to those embodiments. Many other modifications that will come to mind to one skilled in the art having the benefit of the teachings of this disclosure and the foregoing description are to be considered within the scope of the present disclosure, the general principles defined herein and to apply to all the embodiments taught herein equally well.

[0045] The above and other aspects, features, and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings, in which:

[0046] Specific embodiments of the present disclosure are described hereinafter with reference to the drawings; however, it will be understood that the disclosed embodiments are merely examples of the present disclosure, which can be embodied in various ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure unnecessarily. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but are merely for the purpose of teaching a person skilled in the art to use the present disclosure in substantially any appropriate detailed structure.

[0047] The specification can use phrases such as "in one embodiment", "in another embodiment", "in yet another embodiment", or "in other embodiments", which can refer to one or more of the same or different embodiments under the present disclosure.

[0048] The embodiment of the present disclosure provides a humanoid robot with flight function, which is mainly used to improve the passability of the humanoid robot in the application environment of complex terrain and perform various complex tasks or operations. As shown in the drawings, Figures 1-6 The humanoid robot includes a robot body 100 capable of realizing walking function and at least one folding device 200 capable of driving the robot body 100 to realize flight function, and the folding device 200 is arranged at a predetermined position on the robot body 100. In the embodiment, four folding devices 200 are arranged on the robot body 100, and the four folding devices 200 are symmetrically arranged relative to the robot body 100.

[0049] Specifically, the folding device 200 can be combined with the robot body 100 in structure and function to drive the humanoid robot to fly as a flight device. In the embodiment, the folding device 200 arranged on the robot body 100 can enable the humanoid robot to complete complex tasks or operations while achieving stable suspension and flight in the air.

[0050] In the embodiment, the folding device 200 applied to the field of robots, especially combined with humanoid robots, can greatly improve the performance of humanoid robots. Specifically, after arranging the folding device 200, the humanoid robot will be greatly improved in terms of mobility, for example, in a large factory or complex industrial environment, the humanoid robot can quickly move to different work areas with the help of the folding device 200, reducing the time waste caused by slow movement and improving the overall work efficiency; for another example, when the humanoid robot needs to transport materials or equipment inspection between production lines far apart, the quick movement ability provided by the folding device 200 will enable it to respond quickly and shorten the task execution cycle.

[0051] It should be noted that when facing some special terrain or obstacles, the folding and unfolding device 200 can also give the humanoid robot stronger passing ability. For example, during the construction or reconstruction of a factory, there may be some temporary obstacles or not completely flat ground. The traditional robot may be hindered or slow down due to these factors. The humanoid robot equipped with the folding and unfolding device 200 can jump, float, and other actions by using the thrust of the folding and unfolding device 200 to easily cross these obstacles, ensuring the continuity and efficiency of the work.

[0052] For example, in some high-altitude operation scenarios, such as maintenance or installation of equipment at high altitudes in a factory, the folding and unfolding device 200 can assist the humanoid robot to achieve stable low-altitude flight or suspension, enabling the humanoid robot to reach the work position more conveniently and safely, while reducing the dependence on complex lifting equipment, further expanding the operation range and application scenarios of the humanoid robot.

[0053] Specifically, the robot body 100 includes a torso 110, a head 120, a plurality of upper limb assemblies 130, and a plurality of leg assemblies 140. The positions of the torso 110, the head 120, the upper limb assemblies 130, and the leg assemblies 140 are substantially matched with the shape of a human.

[0054] Further, the head 120 is arranged above the torso 110 and can rotate relative to the torso 110. The head 120 can be a block structure, for example. Preferably, different types or functional detection devices can be arranged on the head 120, such as a camera, a laser radar, a millimeter wave radar, etc.

[0055] The torso 110 can be a single block structure or a plurality of block structures stacked, for example. The torso 110 is connected to the upper limb assemblies 130 on both sides above the torso 110, and the leg assemblies 140 are connected to the torso 110 on both sides below the torso 110. Preferably, the bottom of the torso 110 is rotatably connected to a hip 111, and the leg assemblies 140 are arranged on the hip 111. In this embodiment, the folding and unfolding device 200 is arranged on the torso 110 and used for the flight of the humanoid robot. The upper limb assemblies 130 are used for the humanoid robot to perform different tasks or operations, and the leg assemblies 140 are used for the humanoid robot to stand and walk, etc.

[0056] Further, a plurality of the upper limb assemblies 130 are symmetrically arranged on both sides above the torso 110 to form at least one pair of the upper limb assemblies 130, so as to ensure that the humanoid robot can perform various tasks or operations. It should be noted that the number of the upper limb assemblies 130 is even, and the number thereof can be determined according to requirements. For example, one upper limb assembly 130 can be arranged on each side above the torso 110 to form a pair of the upper limb assemblies 130.

[0057] It is considered that the existing humanoid robots have shown certain advantages in industrial applications, such as playing an important role in repetitive labor and dangerous environment operation. However, in some complex task scenarios, the humanoid robot may not be able to complete the task due to the limitation of the number of arms, and the cooperation of multiple arms is needed to achieve the goal. Therefore, in some other embodiments, a plurality of the upper limb assemblies 130 are arranged on each side above the torso 110 to form multiple pairs of the upper limb assemblies 130, thereby forming a humanoid robot with multiple arms. During the flight of the humanoid robot, the multiple pairs of the upper limb assemblies 130 cooperating with the folding device 200 can achieve different functions or operations, thereby completing different tasks. The specific functions and operations are not limited here.

[0058] Preferably, the robot body 100 can realize more functions through the plurality of the upper limb assemblies 130. When a plurality of the upper limb assemblies 130 are arranged on each side above the torso 110, the plurality of the upper limb assemblies 130 on each side are arranged side by side.

[0059] In the present embodiment, for example, two upper limb assemblies 130 are arranged on each side above the torso 110. By arranging two pairs of four upper limb assemblies 130, the humanoid robot can perform different tasks or operations on the front and rear sides thereof, for example, one pair of the upper limb assemblies 130 assists the flight function, and the other pair of the upper limb assemblies 130 performs task operations. In this way, the humanoid robot can complete complex tasks using redundant upper limb assemblies 130 while hovering / stably flying. The different upper limb assemblies 130 can work cooperatively to complete the tasks more stably, improve the safety in work, and enrich the practicality of the humanoid robot.

[0060] In the present embodiment, the plurality of the upper limb assemblies 130 are arranged to enhance the operation ability of the humanoid robot. In combination with the advantages of the folding device 200, the limitations in the prior art are overcome, and a humanoid robot capable of significantly improving work efficiency, greatly enhancing operation flexibility, and efficiently applying in various complex industrial environments is provided, thereby bringing higher production efficiency and better product quality to industrial production.

[0061] Further, the upper limb assembly 130 comprises an upper limb connecting piece 131, a large arm unit 132, a small arm unit 133 and a hand unit connected in sequence. The upper limb connecting piece 131 is rotationally connected with the side surface of the trunk 110, the two ends of the large arm unit 132 are rotationally connected with the upper limb connecting piece 131 and the small arm unit 133 respectively, and the hand unit is rotationally connected with the small arm unit 133. The rotationally connection can be achieved by shaft connection or other suitable connection mode.

[0062] The upper limb connecting piece 131 is arranged to enable the large arm unit 132 to have two rotational degrees of freedom with the trunk 110, and the joint between the large arm unit 132 and the small arm unit 133 has one rotational degree of freedom, so as to facilitate the humanoid robot to perform various tasks or operations.

[0063] Further, the bottom of the trunk 110 is rotationally connected with the hip part 111, and the hip part 111 is in a strip structure. The hip part 111 can rotate around the vertical axis of the trunk 110. Each side of the hip part 111 is rotationally connected with one leg assembly 140, so that the leg assemblies 140 are symmetrically arranged below the two sides of the trunk 110. This not only improves the movement flexibility of the leg assemblies 140 to ensure that the humanoid robot can stand or walk stably, but also shortens the transverse dimension of the humanoid robot.

[0064] Further, the leg assembly 140 comprises a leg connecting piece 141, a thigh unit 142, a shank unit 143 and a foot unit 144 connected in sequence. The leg connecting piece 141 is rotationally connected with the side surface of the hip part 111, and the two ends of the thigh unit 142 are rotationally connected with the leg connecting piece 141 and the shank unit 143 respectively. The rotationally connection can be achieved by shaft connection. The leg connecting piece 141 is rotationally connected with the hip part 111 in a first direction, and the thigh unit 142 is rotationally connected with the leg connecting piece 141 in a second direction and a third direction. The thigh unit 142 has three rotational degrees of freedom with the trunk 110, and the thigh unit 142 has one rotational degree of freedom with the shank unit 143, so as to facilitate the humanoid robot to adapt to different environments and scenarios.

[0065] Further, the foot unit 144 herein can be a foot or a wheel, so that the humanoid robot not only has the multi-modal motion capabilities of flying, walking, sliding and fast advancing, etc.; but also can use the folding and unfolding device 200 in cooperation with the foot unit 144 to assist the humanoid robot in passing through the rugged and complex ground, thereby having the multi-modal driving capability.

[0066] When the foot unit 144 is a foot, it is rotatably connected between the end of the lower leg unit 143, so that the foot unit 144 and the lower leg unit 143 have one rotational degree of freedom, which can facilitate the stability of the humanoid robot; when the foot unit 144 is a wheel, it is fixedly connected between the end of the lower leg unit 143, so that the humanoid robot can slide in a predetermined direction, thereby enriching the motion mode of the humanoid robot.

[0067] Further, the folding and unfolding device 200 is arranged on the torso 110 to provide lifting buoyancy to realize flight. The folding and unfolding device 200 herein can be folded or unfolded relative to the torso 100, for example, the folding and unfolding device 200 can be controlled to be unfolded when flight is needed, and the folding and unfolding device 200 can be controlled to be folded when the humanoid robot is required to walk.

[0068] In the embodiment, the folding and unfolding device 200 is symmetrically arranged relative to the torso 110, so that the humanoid robot can improve the stability when flying. However, there is no more limitation on the specific installation position and number of the folding and unfolding device 200. The corresponding any figure of the embodiment is only one specific case, and the folding and unfolding device 200 herein can be installed in any reasonable area of the relevant part.

[0069] The folding and unfolding device 200 is arranged on the side of the torso 110 and is arranged in a staggered manner with the upper limb assembly 130. Preferably, the torso 110 has a hexagonal cross section at least in part, wherein the upper limb assembly 130 is arranged on the two opposite sides of the torso 130, and the folding and unfolding device 200 is arranged on the remaining sides respectively, so as to form four folding and unfolding devices 200 arranged in axial symmetry, thereby combining the folding and unfolding device 200 with the torso 110 of the robot body 100.

[0070] Further, the plurality of folding and unfolding devices 200 on the torso 110 form a plurality of flight devices, each of the folding and unfolding devices 200 can be independently controlled to rotate, so that the folding and unfolding devices 200 form a thrust force in any predetermined direction, and the plurality of folding and unfolding devices 200 can work together to enable the humanoid robot to fly in multiple postures in the air, having strong maneuverability, for example, by adjusting the working state (such as on-off or speed adjustment) of different folding and unfolding devices 200.

[0071] Further, in combination with Figures 7-10 As shown, the folding and unfolding device 200 includes a mounting member 1, which is connected to the torso 110, and a mechanical arm assembly 2 and a connecting rod assembly 3 are arranged on the mounting member 1, and a motor 4 and a propeller assembly 5 are further arranged on the mechanical arm assembly 2.

[0072] The mounting member 1 is arranged on the torso 110, which can be in the form of a baffle extending in the vertical direction and connected to the torso 110. Preferably, the mounting member 1 has a semi-closed housing structure, which facilitates the storage of the mechanical arm assembly 2.

[0073] Further, the mechanical arm assembly 2 includes a plurality of mechanical arms connected in sequence, and the plurality of mechanical arms are rotatably connected in the form of a shaft, and the plurality of mechanical arms can be folded by relative rotation. Preferably, each of the mechanical arms has the same or approximately the same length, and more preferably, the length of the folded mechanical arm is less than or equal to the length of the mounting member 1, so that the plurality of mechanical arms can not only be significantly shortened after folding, but also be stored in the housing structure along the length direction of the mounting member 1 after folding.

[0074] In this embodiment, the mounting member 1 includes a mounting member body 11, and a connecting seat 12 is arranged at the upper end of the mounting member body 11, a sliding groove 13 is arranged on the mounting member body 11, the sliding groove 13 is arranged along the length direction of the mounting member body 11, a sliding block 14 is arranged in the sliding groove 13, the sliding block 14 is movable in the sliding groove 13, and the length of the sliding groove 13 limits the linear motion range of the sliding block 14.

[0075] The proximal end of the mechanical arm assembly 2 is connected with the mounting member 1, and the distal end of the mechanical arm assembly 2 is provided with the motor 4 and the propeller assembly 5. In the embodiment, the number of the mechanical arms is three, which are a first mechanical arm 21, a second mechanical arm 22 and a third mechanical arm 23. The proximal end of the first mechanical arm 21 is connected with the mounting member 1, and the motor 4 and the propeller assembly 5 are provided at the distal end of the third mechanical arm 23, and the motor 4 drives the propeller assembly 5. Further, the first mechanical arm 21 has a first accommodating groove 211, and the third mechanical arm 23 has a second accommodating groove 231, which are used for accommodating the connecting rod assembly 3. In addition, the end of the second mechanical arm 22 has an extension segment 221.

[0076] The connecting rod assembly 3 in the embodiment is used for folding the mechanical arm assembly 2, and includes a plurality of connecting rods connected in sequence. In an embodiment, the connecting rod assembly 3 includes a first connecting rod 31, a second connecting rod 32 and a third connecting rod 33 connected in sequence.

[0077] Specifically, in the embodiment, the adjacent mechanical arms are rotatably connected. The first end of the first mechanical arm 21 is rotatably connected with the connecting seat 12 on the mounting member 1, the first end of the first connecting rod 31 is rotatably connected with the sliding block 14, the second end of the first connecting rod 31 is rotatably connected with the middle part of the first mechanical arm 21, and the second end of the first connecting rod 31 especially extends into the first accommodating groove 211 and is rotatably connected with the groove wall of the first accommodating groove 211; the first end of the second connecting rod 32 is rotatably connected with the middle part of the first connecting rod 31, the second end of the second connecting rod 32 is rotatably connected with the first end of the third connecting rod 33, the middle part of the third connecting rod 33 is rotatably connected with the extension segment 221 of the second end of the first mechanical arm 11, and the second end of the third connecting rod 33 is rotatably connected with the middle part of the third mechanical arm 23. The second end of the third connecting rod 33 especially extends into the second accommodating groove 231 and is rotatably connected with the groove wall of the second accommodating groove 231. The groove openings of the first accommodating groove 211 and the second accommodating groove 231 are respectively located at the bottom of the first mechanical arm 21 and the third mechanical arm 23, so as to facilitate the extension of the second end of the first connecting rod 31 and the second end of the third connecting rod 33.

[0078] Particularly, the sizes of the first accommodating groove 211 and the second accommodating groove 231 are respectively related to the rotation ranges of the first connecting rod 31 and the third connecting rod 33.

[0079] Figure 10 (a),Figure 10 (b) and Figure 10 (c) respectively show the posture of the folding and unfolding device 200 in the unfolded, partially unfolded and folded states, wherein when the slider 14 is located at the upper dead point of the stroke of the sliding groove 13, the first mechanical arm 21, the second mechanical arm 22 and the third mechanical arm 23 are unfolded to the maximum in turn, at this time the third mechanical arm 23 is in a horizontal posture, so that the propeller assembly 5 is in a horizontal posture, thereby facilitating the realization of the flight function, when the slider 14 slides downward along the sliding groove 13, the folding and unfolding device 200 gradually folds until the slider 14 moves to the lower dead point of the stroke of the sliding groove 13, the folding and unfolding device 200 realizes the folded state, thereby enabling the mechanical arm assembly 2 to be close to the torso 110, especially can be accommodated in the mounting 1, thereby facilitating the normal walking of the humanoid robot.

[0080] It should be noted that the number of mechanical arms in the mechanical arm assembly can present different unfolding forms, the number and arrangement of the connecting rods in the connecting rod assembly can be set by the number of mechanical arms in the mechanical arm assembly, thereby supporting a variety of deformable structures.

[0081] In addition, as Figures 11-18 shown, the torso 110 further comprises a driving assembly 300, the driving assembly 300 is used to drive and lock a plurality of folding and unfolding devices 200 through separate driving devices, and the torso 110 has a cavity, and the driving assembly 300 can be arranged in the cavity. Preferably, the driving assembly 300 is arranged below the folding and unfolding device 200, and the driving assembly 300 drives the unfolding or folding of the folding and unfolding device 200.

[0082] Specifically, the driving assembly 300 comprises a driving motor 301 and a connecting disc 302, wherein the driving motor 301 is connected with the torso 110, thereby realizing the fixed connection with the robot body 100. The driving motor 301 is a linear motor, which can output linear motion, and specifically, the output end of the driving motor 301 can drive the connecting disc 302 to move linearly.

[0083] Further, the driving motor 301 comprises an output section 3011, and the output section 3011 is connected with the connecting disc 302 through a driving shaft 3012, especially the center of the connecting disc 302, and the output section 3011 drives the driving shaft 3012 to move linearly, thereby driving the connecting disc 302 to move linearly up and down through the driving motor 301.

[0084] Specifically, the connecting disc 302 comprises a disc-shaped connecting disc body 3021, which is a central symmetric structure having a plurality of hollow parts 3022 arranged corresponding to the folding and unfolding device 200, the plurality of hollow parts 3022 are arranged radially relative to the center of the connecting disc body 3021, specifically, the mount 1 of the folding and unfolding device 200 can pass through the hollow part 3022.

[0085] Further, the inner wall of the hollow part 3022 away from the center of the connecting disc body 3021 is provided with a protrusion 3023, the protrusion 3023 is connected with the bottom of the sliding block 14 of the corresponding mount 1, so that when the connecting disc 302 moves up and down, the movement of the protrusion 3023 can drive the sliding block 14 to move up and down in the sliding groove 13, and finally the movement of the sliding block 14 realizes the folding and unfolding of the folding and unfolding device 200 through the connecting rod assembly 3.

[0086] Specifically, in the initial state, the sliding block 14 is located at the lowest position, as shown in Figure 10 (c), the upward movement of the sliding block 14 drives the rotation of the first connecting rod 31, the rotation of the first connecting rod 31 drives the movement of the first mechanical arm 21 towards the horizontal state, the rotation of the first connecting rod 31 also drives the rotation of the second connecting rod 32 and the third connecting rod 33, here the included angle between the first connecting rod 31 and the second connecting rod 32 gradually increases from an acute angle to a right angle and then to an obtuse angle, the included angle between the second connecting rod 32 and the third connecting rod 33 gradually increases from an acute angle to a right angle and then to an obtuse angle, so that the included angle between the second mechanical arm 22 and the first mechanical arm 21 and the third mechanical arm 23 also gradually increases from an acute angle to a right angle and then to an obtuse angle, finally, the rotation of the third connecting rod 33 drives the movement of the third mechanical arm 23 towards the horizontal direction. When the sliding block 14 moves to the highest position, as shown in Figure 10 (a), the first mechanical arm 21 and the third mechanical arm 23 are both in a substantially horizontal state, thereby finally realizing the unfolding of the folding and unfolding device 200.

[0087] In this embodiment, the movement of the sliding block 14 in a plurality of folding and unfolding devices 200 can be driven by the driving motor 301, that is, a plurality of mechanical arm assemblies can be driven by a single driving motor 301, so that a plurality of mechanical arm assemblies are driven by a single linear actuator (such as the driving motor 301) to realize folding and unfolding, which can avoid the redundancy of the driving structure.

[0088] Further, the driving assembly 300 further comprises a locking motor 303, an output end of the locking motor 303 is provided with a locking piece, the locking motor 303 is arranged in the trunk 110, and the locking motor 303 is a linear motor, which is used for driving the locking piece to move linearly to be inserted into the driving motor 301, so as to limit the operation of the driving motor 301.

[0089] Specifically, when the connecting disc 302 moves to the uppermost position, that is, drives the folding and unfolding device 200 to be completely unfolded, at this time, the locking piece is inserted into the large output end 3011 of the driving motor 301 through linear motion of the output end of the locking motor 303, the operation of the driving motor 301 is locked, so that the connecting disc 302 can be in a stable posture, thereby ensuring the posture of the folding and unfolding device 200 to be stable.

[0090] The embodiment of the present disclosure sets the folding and unfolding device on the robot body, so that the humanoid robot can consider flight and work, and complete complex tasks while walking stably on the ground or flying stably in the air, wherein the humanoid robot can fly in multiple postures in the air, has strong maneuverability and multi-modal motion capability. In addition, by endowing the humanoid robot with the ability to fly low and cross obstacles, the application value of the humanoid robot in important scenes such as military is greatly improved.

[0091] In addition, the features of the embodiments shown in the drawings or mentioned in the specification of the present application are not necessarily understood as independent embodiments from each other. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments, thereby generating other embodiments not described in words or with reference to the drawings.

[0092] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A humanoid robot with flight capability, characterized in that, The robot includes a robot body and at least one folding device for driving the robot body to achieve flight. The robot body includes a head and a torso. The torso is provided with multiple upper limb components and multiple leg components. The folding device is located on the side of the torso and is offset from the upper limb components. The folding device can be folded or unfolded relative to the torso.

2. The humanoid robot with flight capability according to claim 1, characterized in that, The plurality of the aforementioned folding devices are symmetrically arranged relative to the torso.

3. The humanoid robot with flight capability according to claim 1, characterized in that, The folding and unfolding device includes a mounting component connected to the torso, a robotic arm assembly and a connecting rod assembly mounted on the mounting component, a propeller motor and a propeller assembly mounted on the robotic arm assembly, and the connecting rod assembly used to drive the robotic arm assembly to fold or unfold.

4. The humanoid robot with flight capability according to claim 3, characterized in that, The robotic arm assembly includes a plurality of robotic arms connected in sequence. The proximal end of the robotic arm assembly is connected to the mounting component. The propeller motor and the propeller assembly are disposed at the distal end of the robotic arm assembly. The connecting rod assembly is connected to the robotic arm assembly and includes a plurality of connecting rods connected in sequence.

5. The humanoid robot with flight capability according to claim 4, characterized in that, The mounting component includes a mounting component body, a connecting seat is provided at the end of the mounting component body, a sliding groove is provided on the mounting component body, the sliding groove is provided along the length direction of the mounting component body, and a movable slider is provided in the sliding groove.

6. The humanoid robot with flight capability according to claim 5, characterized in that, The robotic arm assembly includes a first robotic arm, a second robotic arm, and a third robotic arm connected in sequence. The second robotic arm has an extension section at its end. The connecting rod assembly includes a first connecting rod, a second connecting rod, and a third connecting rod connected in sequence. A first end of the first robotic arm is rotatably connected to the connecting seat. A first end of the first connecting rod is rotatably connected to the slider. A second end of the first connecting rod is rotatably connected to the middle of the first robotic arm. A first end of the second connecting rod is rotatably connected to the middle of the first connecting rod. A second end of the second connecting rod is rotatably connected to the first end of the third connecting rod. The middle of the third connecting rod is rotatably connected to the extension section of the second robotic arm. A second end of the third connecting rod is rotatably connected to the middle of the third robotic arm.

7. The humanoid robot with flight capability according to claim 6, characterized in that, The first robotic arm has a first receiving groove, the third robotic arm has a second receiving groove, the second end of the first connecting rod extends into the first receiving groove and is rotatably connected to the groove wall of the first receiving groove, and the second end of the third connecting rod extends into the second receiving groove and is rotatably connected to the groove wall of the second receiving groove.

8. The humanoid robot with flight capability according to claim 5, characterized in that, A drive assembly is provided inside the torso. The drive assembly includes a drive motor and a connecting disk. The drive motor is connected to the torso, and the output end of the drive motor is connected to the connecting disk and drives the connecting disk to move in a straight line.

9. The humanoid robot with flight capability according to claim 8, characterized in that, The connecting plate includes a disc-shaped connecting plate body, which has a centrally symmetrical structure and multiple hollow sections. The multiple hollow sections are arranged radially relative to the center of the connecting plate body, and the mounting component of the folding device can pass through the hollow sections.

10. The humanoid robot with flight capability according to claim 9, characterized in that, A protrusion is provided on the inner wall of the hollowed-out part away from the center of the connecting disk body, and the protrusion is connected to the bottom of the corresponding slider.

11. The humanoid robot with flight capability according to claim 8, characterized in that, The drive assembly also includes a locking motor, the output end of which is provided with a locking element to restrict the operation of the drive motor.

12. The humanoid robot with flight capability according to claim 1, characterized in that, The bottom of the torso is connected to the hip, which rotates about the axis of the torso, and the leg assembly is disposed on the hip.

13. The humanoid robot with flight capability according to claim 1, characterized in that, One or more upper limb components are provided on each side of the torso, with the multiple upper limb components arranged side by side.

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