Modular biped robot

Abstract

The application relates to the technical field of robots, and discloses a modular biped robot, which comprises a biped robot modular unit; the biped robot modular unit comprises a fuselage and a group of wheel-leg structures; the group of wheel-leg structures is installed on both sides of the bottom of the fuselage; the wheel-leg structure comprises an upper leg module, a lower leg module and a wheel; the lower leg module comprises a first section, a second section and a third section; the first section is movably connected with the upper leg module; the second section is a cavity structure; a telescopic component is arranged in the second section; the telescopic component is connected with the first section and the third section; a wheel shaft is arranged in the lower part of the third section; the wheel is installed on the wheel shaft; a resistance mechanism and a sliding mechanism are arranged on the wheel shaft; the resistance mechanism and the sliding mechanism are connected through a frame; speed sensors are arranged on the corresponding side plates on both sides of the frame; and the speed sensors are signal-connected with a driver and an air cylinder. The robot has higher walking stability and wider adaptability.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a modular bipedal robot. Background Technology

[0002] In recent years, bipedal robots have played an important role in robotics research, with their biomimetic design and flexibility enabling them to perform well in many applications. However, with increasing application demands, bipedal robots have revealed some limitations. For example, when encountering tall obstacles while walking, their ability to cross them is affected. Also, when walking uphill or downhill, their speed can become too fast or too slow, affecting their stability. Summary of the Invention

[0003] The technical objective of this invention is to address the above-mentioned shortcomings by providing a modular bipedal robot to solve the problems mentioned above.

[0004] The technical solution of this invention is implemented as follows:

[0005] A modular bipedal robot includes a modular bipedal robot unit; the modular bipedal robot unit includes: a body and a set of wheel-leg structures; the set of wheel-leg structures are installed on both sides of the bottom of the body; the wheel-leg structures include: an upper leg module, a lower leg module, and wheels; the lower leg module includes a first segment, a second segment, and a third segment; the first segment is movably connected to the upper leg module, the second segment is a hollow structure, and a telescopic component is provided inside the second segment, which is connected to the first segment and the third segment; an axle is inserted through the lower part of the third segment, and the wheels are installed on the axle; a resistance mechanism and a sliding mechanism are provided on the axle, and the resistance mechanism and the sliding mechanism are connected through a frame; the top of the frame is connected to the side of the third segment through a set of hinge blocks; speed sensors are provided on the corresponding side plates on both sides of the frame, and the speed sensors are connected to the driver, cylinder one, cylinder two, cylinder three, and battery signals.

[0006] Preferably, the sliding mechanism includes a driver located on one side of the frame, a shaft at the top of the driver, a rocker arm at the top of the shaft, a U-shaped frame on one side of the rocker arm, support rods at the outer ends of the top and bottom walls of the U-groove of the U-shaped frame, an I-beam wheel between the support rods, a limiting part on the side of the I-beam wheel away from the wheel, a planetary gear on the side of the I-beam wheel corresponding to the wheel, an internal gear ring meshing with the planetary gear on the outer side of the planetary gear, a first shaft at the center of the side of the internal gear ring away from the planetary gear, and the first shaft connected to one end of the wheel axle.

[0007] Preferably, the limiting part includes a connecting plate, one side of which is fixed to one side of the frame. A fixing plate is provided at the end of the connecting plate away from the frame. A fixing post is provided at the top outer end of the fixing plate. A moving rod is inserted through the middle of the fixing post. One end of the moving rod is fixed to the middle of the side of the I-beam wheel. A battery box is provided at the end of the moving rod away from the I-beam wheel. A battery is installed in the battery box. The battery is electrically connected to the moving rod. A spring is sleeved on the moving rod between the I-beam wheel and the fixing post.

[0008] Preferably, the resistance mechanism includes a column mounted on the inner wall of the frame. A disc is provided on the side of the column corresponding to the wheel, a circular body is provided on the side of the disc away from the column, and a cylinder is provided on the side of the circular body away from the disc. A pneumatic drive unit is provided on the side of the cylinder away from the circular body. The pneumatic drive unit passes through the cylinder and the circular body and is driven and linked with the disc. A clamping structure is provided on the outer wall of the circular body, and the clamping structure cooperates with the outer wall of the cylinder and the disc.

[0009] Preferably, the outer wall of the cylinder is provided with several first grooves and second grooves; the outer wall of the disk is provided with several sets of protrusions.

[0010] Preferably, the outer diameter of the cylinder is smaller than the outer diameter of the disk.

[0011] Preferably, the clamping structure includes several resistance blocks. A central shaft is inserted through the middle of the resistance block. The two ends of the central shaft pass through the middle of the convex plates on the adjacent sides. The resistance block has a slot on the side away from the wheel, and the slot is engaged with the disc. A connecting shaft is inserted through the other side of the resistance block. An H-shaped clamping block is provided at the outer end of the connecting shaft. A shaft is transversely inserted in the groove on the other side of the H-shaped clamping block. A clamping plate is provided on the shaft. A clamping groove is provided on the inner side of the clamping plate. The clamping groove is engaged with the convex plate between the first groove and the second groove.

[0012] Preferably, the pneumatic drive unit includes a cylinder, an elastic ring on one side of the cylinder corresponding to the wheel axle, one end of the elastic ring being connected to the cylinder and the other end being fixed in a groove two on the side of the wheel axle, the side of the cylinder away from the wheel being fixed to the middle of the side of the cylinder, a matching air rod one inside the cylinder, the air rod one penetrating the cylinder and the circular body; a groove one on the side of the disc away from the cylinder; a convex plate on the side of the circular body away from the cylinder, the convex plate being located in the groove one.

[0013] Preferably, the telescopic component includes a base plate, which is fixed to the third section. A first L-shaped frame is provided on one side of the top of the base plate. A slider is provided on the top side of the first L-shaped frame. A matching track is provided inside the slider. A fixing plate is provided between the sides of the track away from the slider. Slider 2 is provided on both sides of the fixing plate away from the track. Matching track 2 is provided on the side of the slider away from the fixing plate. A second L-shaped frame is provided on the side of the track away from the slider. A top plate is provided on the top of the second L-shaped frame. A connecting block is provided at the center of the top of the top plate. The connecting block is connected to the bottom of the first section.

[0014] Preferably, a cylinder 2 is located at the top of the base plate between a set of first L-shaped frames. The cylinder 2 is mounted on the base plate. A matching rod 2 is located inside the cylinder 2, and the rod 2 passes through the cylinder 2. A cylinder is located at the top of the rod 2, and a fixing block is located at the top of the cylinder. The fixing block is fixed to the upper center of one side of the fixing plate 2. A cylinder 3 is located at the upper center of the side of the fixing plate 2 away from the fixing block. A matching rod 3 is located inside the cylinder 3, and the rod 3 passes through the cylinder 3. The top of the rod 3 is fixed to the bottom of the top plate.

[0015] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0016] The modular bipedal robot features retractable components in its lower leg modules. These components automatically adjust the robot's height, allowing it to easily traverse obstacles of a certain height. Furthermore, by replacing traditional foot pedals with wheels, and incorporating resistance and sliding mechanisms on either side of these wheels, the robot automatically adjusts its movement based on its speed. When the speed sensor detects excessive downhill speed, it activates the resistance mechanism to provide additional resistance to the wheel axles; conversely, when the speed sensor detects insufficient uphill speed, it activates the sliding mechanism to provide auxiliary power, reducing frictional resistance during inclines. This results in greater stability and a wider range of adaptability for the robot's movement.

[0017] By adopting this modular bipedal robot, the bipedal robot, with its human-like movement capabilities, adaptability to complex environments, and flexible operation advantages, provides a brand-new solution for the intelligent transformation of the industrial manufacturing field. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the sliding mechanism structure according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the resistance mechanism structure according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the clamping structure according to an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of a pneumatic drive structure according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of a cylindrical structure according to an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the telescopic component structure according to an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the lower leg module structure according to an embodiment of the present invention.

[0027] In the picture:

[0028] 1. Modular bipedal robot unit; 2. Body; 3. Wheel-leg structure; 4. Upper leg module; 5. Lower leg module; 6. Wheel; 7. First segment; 8. Second segment; 9. Third segment; 10. Resistance mechanism; 11. Sliding mechanism; 12. Frame; 13. Driver; 14. Axle; 15. Swing rod; 16. U-shaped frame; 17. Support rod; 18. I-beam wheel; 19. Planetary gear; 20. Internal gear ring; 21. First axle; 22. Connecting plate; 23. Fixed plate one; 24. Fixed column; 25. Moving rod; 26. Spring; 27. Column; 28. Disc; 29. ​​Circular body; 30. Cylinder; 3 1. First groove; 32. Second groove; 33. Protruding plate; 34. Resistance block; 35. Groove opening; 36. H-shaped clamping block; 37. Clamping plate; 38. Clamping groove; 39. Cylinder 1; 40. Air rod 1; 41. Groove 1; 42. Protruding plate; 43. Base plate; 44. First L-shaped frame; 45. Slider 1; 46. Track 1; 47. Fixing plate 2; 48. Second L-shaped frame; 49. Top plate; 50. Connecting block; 51. Cylinder 2; 52. Air rod 2; 53. Cylinder; 54. Fixing block; 55. Cylinder 3; 56. Air rod 3; 57. Speed ​​sensor; 58. Wheel axle; 59. Elastic ring; 60. Groove 2. Detailed Implementation

[0029] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0030] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0031] According to embodiments of the present invention, such as Figure 1-8 As shown in the document:

[0032] This invention provides a modular bipedal robot, comprising a modular bipedal robot unit 1; the modular bipedal robot unit 1 includes: a body 2 and a set of wheel-leg structures 3; the set of wheel-leg structures 3 is installed on both sides of the bottom of the body 2; the wheel-leg structure 3 includes: an upper leg module 4, a lower leg module 5, and wheels 6; the lower leg module 5 includes a first segment 7, a second segment 8, and a third segment 9; the first segment 7 is movably connected to the upper leg module 4, the second segment 8 is a hollow structure, and a telescopic component is provided inside the second segment 8, which is connected to the first segment 7 and the third segment 9; an axle 58 is inserted through the lower part of the third segment 9, and the wheels 6 are installed on the axle 58; the axle 58 is provided with a resistance mechanism 10 and a sliding mechanism 11, which are connected by a frame 1. 2. The top of the frame 12 is connected to the side of the third section 9 via a set of hinge blocks. Speed ​​sensors 57 are provided on the corresponding sides of both frames 12. The speed sensors 57 are connected to the driver 13, cylinder 39, cylinder 51, cylinder 55 and battery. They can collect the rotational speed signal of the wheel axle 58 in real time and transmit the signal to the controller. When the rotational speed exceeds the preset threshold, the controller sends an action command to cylinder 39 to control the retraction of the air rod 40 and trigger the resistance mechanism 10 to work. When the rotational speed is lower than the preset threshold, the controller simultaneously sends commands to the driver 13 and the battery. The driver 13 drives the U-shaped frame 16 to push the I-beam wheel 18 to mesh with the planetary gear 19. The battery supplies power to the moving rod 25 to provide auxiliary power and adjust the rotational speed of the wheel axle 58 to the target range.

[0033] The sliding mechanism 11 includes a driver 13 located on one side of the frame 12. A shaft 14 is located at the top of the driver 13, and a rocker arm 15 is located at the top of the shaft 14. A U-shaped frame 16 is located on one side of the rocker arm 15. Support rods 17 are located at the outer ends of the top and bottom walls of the U-groove within the U-shaped frame 16. I-beam wheels 18 are located between the support rods 17. A limiting part is located on the side of the I-beam wheel 18 away from the wheel 6. A planetary gear 19 is located on the side of the I-beam wheel 18 corresponding to the wheel 6. An internal gear ring 20 meshes with the outer side of the planetary gear 19. A first shaft 21 is located at the center of the side of the internal gear ring 20 away from the planetary gear 19. The first shaft 21 is connected to one end of the wheel axle 58. The limiting part includes a connecting plate 22. One side of the connecting plate 22 is fixed to one side of the frame 12. The end of the connecting plate 22 away from the frame 12 is provided with a fixing plate 23. The top outer end of the fixing plate 23 is provided with a fixing post 24. A moving rod 25 is inserted through the middle of the fixing post 24. One end of the moving rod 25 is fixed to the middle of the side of the I-beam wheel 18. The end of the moving rod 25 away from the I-beam wheel 18 is provided with a battery box. The battery box contains a battery. The battery is electrically connected to the moving rod 25. A spring 26 is sleeved on the moving rod 25 between the I-beam wheel 18 and the fixing post 24.

[0034] Furthermore, the resistance mechanism 10 includes a column 27 mounted on the inner wall of the frame 12. A disc 28 is provided on the side of the column 27 corresponding to the wheel 6. A circular body 29 is provided on the side of the disc 28 away from the column 27. A cylinder 30 is provided on the side of the circular body 29 away from the disc 28. A pneumatic drive unit is provided on the side of the cylinder 30 away from the circular body 29. The pneumatic drive unit passes through the cylinder 30 and the circular body 29 and is driven and linked with the disc 28. A clamping structure is provided on the outer wall of the circular body 29. The clamping structure is connected to the cylinder 30 and... The outer wall of the disc 28 fits, and the outer wall of the cylinder 30 is provided with several first grooves 31 and second grooves 32. The outer wall of the disc 28 is provided with several sets of protrusions 33. The outer diameter of the cylinder 30 is smaller than the outer diameter of the disc 28. The clamping structure includes several resistance blocks 34. A central shaft is inserted through the middle of the resistance block 34. The two ends of the central shaft pass through the middle of the protrusions 33 on the adjacent sides. The resistance block 34 has a slot 35 on the side away from the wheel 6. The slot 35 is engaged with the disc 28. A connecting shaft is inserted through the other side of the resistance block 34. The outer end of the connecting shaft has an H-shaped groove. The H-shaped clamping block 36 has a shaft 2 transversely passing through the groove on the other side. A clamping plate 37 is mounted on the shaft 2, and a clamping groove 38 is provided on the inner side of the clamping plate 37. The clamping groove 38 engages with the protruding plate 33 between the first groove 31 and the second groove 32. The pneumatic drive unit includes a cylinder 39. An elastic ring 59 is provided on one side of the cylinder 39 corresponding to the wheel axle 58. One end of the elastic ring 59 is connected to the cylinder 39, and the other end is fixed in the groove 60 on the side of the wheel axle 58. The side of the cylinder 39 away from the wheel 6 is fixed to the middle of the side of the cylinder 30. A matching air rod 40 is provided inside cylinder 30 and circular body 29. A groove 41 is provided on the side of disc 28 away from cylinder 27. A convex plate 42 is provided on the side of circular body 29 away from cylinder 30. The convex plate 42 and the groove 41 are in transition fit. After the convex plate 42 is embedded in the groove 41, it can limit the radial displacement of circular body 29 and disc 28, ensuring that when cylinder 30 pushes circular body 29, disc 28 can rotate synchronously and coaxially, avoiding the failure of resistance mechanism 10 due to radial offset.

[0035] Additionally, the telescopic component includes a base plate 43, which is fixed to the third section 9. A first L-shaped frame 44 is provided on one side of the top of the base plate 43. A slider 45 is provided on the top side of the first L-shaped frame 44. A matching track 46 is provided inside the slider 45. A fixing plate 47 is provided between the sides of the track 46 away from the slider 45. Slider 2 is provided on both sides of the fixing plate 47 away from the track 46. A matching track 2 is provided on the side of the slider 47 away from the fixing plate 47. A second L-shaped frame 48 is provided on the side of the track 48 away from the slider 48. A top plate 49 is provided on the top of the second L-shaped frame 48. A connecting block 50 is provided at the center of the top of the top plate 49. The connecting block 50 is connected to the bottom of the first section 7. The top of the base plate 43 is located between a set of first L-shaped frames 44 and a cylinder 51 is provided. The cylinder 51 is installed on the base plate 43. The cylinder 51 is provided with a matching rod 52. The rod 52 passes through the cylinder 51. The top of the rod 52 is provided with a cylinder 53. The top of the cylinder 53 is provided with a fixing block 54. The fixing block 54 is fixed at the upper center of one side of the fixing plate 47. The upper center of the side of the fixing plate 47 away from the fixing block 54 is provided with a cylinder 55. The cylinder 55 is provided with a matching rod 56. The rod 56 passes through the cylinder 55. The top of the rod 56 is fixed to the bottom of the top plate 49.

[0036] Detailed usage and function of this embodiment:

[0037] When the bipedal robot encounters a high obstacle while walking, it drives cylinder 51 to extend and retract the pneumatic rod 52. The pneumatic rod 52 pushes against the fixed block 54, and the fixed block 54 drives the fixed plate 47 to slide upward. When the fixed plate 47 slides upward, the sliders on both sides slide synchronously along the track 2 inside the second L-shaped frame 48, causing the second L-shaped frame 48 to move upward. The top of the second L-shaped frame 48 is fixedly connected to the top plate 49, which in turn drives the top plate 49 and the connecting block 50 on the top to move upward. The connecting block 50 pushes the first section 7 to extend upward relative to the second section 8, ultimately realizing the overall height adjustment of the wheel-leg structure 3, making it easier to cross high obstacles during walking.

[0038] When encountering slopes or excessive speed, the speed sensor 57 detects a signal and transmits it to the control module, which in turn triggers a telescopic movement between cylinder 39 and rod 40. Rod 40 drives the circular body 29 into the groove 41. When rod 40 retracts relative to cylinder 39, since the side of cylinder 39 furthest from wheel 6 is fixed to the middle of the side of cylinder 30, rod 40 pulls cylinder 30 towards the side of cylinder 27. Cylinder 30, through rigid contact with the circular body 29 via its end face, pushes the circular body 29 towards disk 28. The convex plate 42 on the side of circular body 29 furthest from cylinder 30 embeds into the groove 41 of disk 28, driving disk 28... Simultaneously, the first groove 31 and the second groove 32 on the outer wall of the cylinder 30 press against the clamping groove 38 of the clamping plate 37, causing the clamping plate 37 to rotate around the axis. The H-shaped clamping block 36 pushes the resistance block 34 to rotate around the central axis. The side of the resistance block 34 away from the groove 35 presses against the outer wall of the wheel axle 58, generating frictional resistance to reduce the speed of the wheel axle 58. The right side of the clamping plate 37 pushes the H-shaped clamping block 36, and the H-shaped clamping block 36 further abuts against the resistance block 34 to fit the wheel axle 58. After the resistance block 34 is pushed by the left side, its right side will fit against the side wall of the disc 28. The disc 28 is in a stationary state, thus providing resistance for the rotation of the wheel axle 58. The side wall of the disc 28 can be increased with damping rings as needed.

[0039] When encountering a slope or slow speed, cylinder 39 and rod 40 extend and retract in opposite directions, causing the right end of resistance block 34 to separate from the outer wall of disc 28, and the transmission of wheel axle 58 is no longer interfered with by the resistance mechanism. The synchronous drive driver 13 operates, driving the shaft 14 to rotate. The shaft 14 drives the U-shaped frame 16 connected to the side, causing the U-shaped frame 16 to swing left and right, pushing the I-beam wheel 18 to move to the right. The I-beam wheel 18 pushes the planetary gear 19 into the groove on the left side of the internal gear ring 20. The planetary gear 19 meshes with the teeth on the inner wall of the internal gear ring 20. At this time, the drive driver 13 stops operating, and the battery provides power to the moving rod 25, driving the moving rod 25 to rotate around the axis of the fixed column 24. When the moving rod 25 rotates, it synchronously drives the I-beam wheel 18 to rotate. The I-beam wheel 18 drives the coaxially connected planetary gear 19 to rotate. The planetary gear 19 meshes with the internal gear ring 20, driving the internal gear ring 20 and the coaxial first shaft 21 to rotate. Finally, the power is transmitted to the wheel axle 58 through the first shaft 21, realizing the speed adjustment of the wheel axle 58. The rotation speed of the planetary gear 19 is faster than that of the wheel axle 58, thus providing auxiliary power to the wheel axle 58 and increasing the walking speed. The rotational speed of planetary gear 19 can be equal to or lower than that of axle 58 to achieve deceleration.

[0040] Through the specific embodiments described above, those skilled in the art can easily implement the present invention. However, it should be understood that the present invention is not limited to the specific embodiments described above. Based on the disclosed embodiments, those skilled in the art can arbitrarily combine different technical features to achieve different technical solutions.

Claims

1. A modular bipedal robot, characterized in that, Including a modular unit of a bipedal robot (1); The modular unit (1) of the bipedal robot includes: a body (2) and a set of wheel-leg structures (3); A set of wheel-leg structures (3) are installed on both sides of the bottom of the fuselage (2); The wheel-leg structure (3) includes: an upper leg module (4), a lower leg module (5), and a wheel (6); The lower leg module (5) includes a first section (7), a second section (8), and a third section (9); The first section (7) is movably connected to the upper leg module (4). The second section (8) is a hollow structure. The second section (8) is equipped with a telescopic component. The telescopic component is connected to the first section (7) and the third section (9). The lower part of the third section (9) is provided with a wheel axle (58). The wheel (6) is installed on the wheel axle (58). The wheel axle (58) is provided with a resistance mechanism (10) and a sliding mechanism (11). The resistance mechanism (10) and the sliding mechanism (11) are connected through a frame (12). The top of the frame (12) is connected to the side of the third section (9) through a set of hinge blocks. Speed ​​sensors (57) are provided on the corresponding side plates on both sides of the frame (12). The sliding mechanism (11) includes a driver (13) located on one side of the frame (12). The driver (13) has a shaft (14) at its top, and a rocker arm (15) at its top. A U-shaped frame (16) is provided on one side of the rocker arm (15). Support rods (17) are provided at the outer ends of the top and bottom walls of the U-groove of the U-shaped frame (16). I-beam wheels (18) are provided between the support rods (17). A limiting part is provided on the side of the I-beam wheel (18) away from the wheel (6). The I-beam wheel (18) is positioned relative to the wheel (6). A planetary gear (19) is provided on one side of the wheel (6). An internal gear ring (20) is provided on the outer side of the planetary gear (19). A first shaft (21) is provided at the center of the side of the internal gear ring (20) away from the planetary gear (19). The first shaft (21) is connected to one end of the wheel axle (58). The limiting part includes a connecting plate (22). One side of the connecting plate (22) is fixed to one side of the frame (12). A fixing plate (23) is provided at the end of the connecting plate (22) away from the frame (12). The fixing plate (23) has a fixed plate (23) on its side. A fixed post (24) is provided at the top outer end, and a movable rod (25) is inserted through the middle of the fixed post (24). One end of the movable rod (25) is fixed to the middle of the side of the I-beam wheel (18). A battery box is provided at the end of the movable rod (25) away from the I-beam wheel (18). A battery is installed in the battery box and the battery is electrically connected to the movable rod (25). A spring (26) is sleeved on the movable rod (25) between the I-beam wheel (18) and the fixed post (24). The resistance mechanism (10) includes a column (27). The column (27) is installed on the inner wall of the frame (12). The column (27) is provided with a disc (28) on the side corresponding to the wheel (6). The disc (28) is provided with a circular body (29) on the side away from the column (27). The circular body (29) is provided with a cylinder (30) on the side away from the disc (28). The cylinder (30) is provided with a pneumatic drive unit on the side away from the circular body (29). The pneumatic drive unit passes through the cylinder (30) and the circular body (29) and is driven and linked with the disc (28).

2. The modular bipedal robot according to claim 1, characterized in that, The outer wall of the circular body (29) is provided with a clamping structure, which cooperates with the outer wall of the cylinder (30) and the disk (28).

3. A modular bipedal robot according to claim 1, characterized in that, The outer wall of the cylinder (30) is provided with a number of first grooves (31) and second grooves (32); The outer wall of the disc (28) is provided with several sets of protruding plates (33).

4. A modular bipedal robot according to claim 1, characterized in that, The outer diameter of the cylinder (30) is smaller than the outer diameter of the disk (28).

5. A modular bipedal robot according to claim 3, characterized in that, The clamping structure includes several resistance blocks (34). A central shaft is inserted in the middle of the resistance block (34). The two ends of the central shaft pass through the middle of the convex plates (33) on the adjacent sides. A slot (35) is provided on the side of the resistance block (34) away from the wheel (6). The slot (35) is engaged with the disc (28). A connecting shaft is inserted on the other side of the resistance block (34). An H-shaped clamping block (36) is provided at the outer end of the connecting shaft. A shaft two is transversely inserted in the groove on the other side of the H-shaped clamping block (36). A clamping plate (37) is provided on the shaft two. A clamping groove (38) is provided on the inner side of the clamping plate (37). The clamping groove (38) is engaged with the convex plate (33) between the first groove (31) and the second groove (32).

6. A modular bipedal robot according to claim 1, characterized in that, The pneumatic drive unit includes a cylinder (39). The cylinder (39) is provided with an elastic ring (59) on one side of the wheel axle (58). One end of the elastic ring (59) is connected to the cylinder (39), and the other end is fixed in the groove (60) on the side of the wheel axle (58). The side of the cylinder (39) away from the wheel (6) is fixed in the middle of the side of the cylinder (30). The cylinder (39) is provided with a matching air rod (40), which passes through the cylinder (30) and the circular body (29). The side of the disc (28) away from the column (27) has a groove (41); A convex disk (42) is provided on the side of the circular body (29) away from the cylinder (30), and the convex disk (42) is located in the groove (41).

7. A modular bipedal robot according to claim 1, characterized in that, The telescopic component includes a base plate (43), which is fixed on the third section (9). A first L-shaped frame (44) is provided on one side of the top of the base plate (43). A slider (45) is provided on the top side of the first L-shaped frame (44). A matching track (46) is provided inside the slider (45). A fixing plate (47) is provided between the two tracks (46) away from the slider (45). A slider is provided on both sides of the fixing plate (47) away from the track (46). A matching track is provided on the side of the slider away from the fixing plate (47). A second L-shaped frame (48) is provided on the side of the track away from the slider. A top plate (49) is provided on the top of the second L-shaped frame (48). A connecting block (50) is provided at the center of the top of the top plate (49). The connecting block (50) is connected to the bottom of the first section (7).

8. A modular bipedal robot according to claim 7, characterized in that, The top of the base plate (43) is located between a set of first L-shaped frames (44) and a cylinder two (51) is provided. The cylinder two (51) is installed on the base plate (43). The cylinder two (51) is provided with a matching air rod two (52). The air rod two (52) passes through the cylinder two (51). The top of the air rod two (52) is provided with a cylinder (53). The top of the cylinder (53) is provided with a fixing block (54). The fixing block (54) is fixed at the upper center of one side of the fixing plate two (47). A cylinder three (55) is provided at the upper center of the side of the fixed plate two (47) away from the fixed block (54). A matching air rod three (56) is provided inside the cylinder three (55). The air rod three (56) passes through the cylinder three (55). The top of the air rod three (56) is fixed to the bottom of the top plate (49).

Images