A linkage-type leg-shaped variable cell structure and its robot

Abstract

This invention provides a linkage-type variable-cell leg structure and its robot, relating to the field of robotics. It connects the thigh and lower leg components via multi-link connecting parts. A first connector connects the drive motor and a first elastic connector, and a second connector connects the lower leg and the first elastic connector. An angle sensor and a motor encoder are used to obtain the corresponding rotation angles. A geometric model is constructed by combining the dimensions and deformation data of each component. The torque at the joint connecting the lower leg and thigh components is calculated, ultimately yielding the foot force. This indirect sensing and estimation scheme requires complex sensors, is low-cost, and facilitates the estimation of foot force.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a linkage-type leg-shaped variable cell structure and its robot. Background Technology

[0002] During robot movement, the foot end of the lower leg serves as the main execution part for robot interaction with the external environment, and its force feedback information plays a crucial role in system control.

[0003] Currently, most commonly used foot force / torque sensors are based on the strain gauge principle. These strain gauge sensors are highly sensitive to ambient temperature and material creep, have strict requirements for the installation location, and are prone to drift and nonlinear responses, thus affecting the stability and repeatability of the sensor. Furthermore, the structure is complex, resulting in high sensor costs. Therefore, how to conveniently obtain foot force information is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The problem solved by this invention is: how to conveniently obtain foot force information.

[0005] To address the aforementioned problems, this invention provides a linkage-type leg-shaped variable cell structure and its robot.

[0006] In a first aspect, a linkage-type variable-cell leg structure includes a drive motor, a thigh component, a lower leg component, a connecting component, and an angle sensor, wherein:

[0007] The drive motor includes a first motor, a second motor, and a motor encoder. The output shaft of the second motor is connected to the housing of the first motor, and the axial direction of the output shaft of the second motor is aligned with the axial direction of the output shaft of the first motor. The motor encoder is used to acquire the rotation angle information of the output shafts of the first motor and the second motor. One end of the thigh component is connected to the housing of the first motor, and the other end of the thigh component is rotatably connected to the lower leg component through a first connecting shaft.

[0008] The connecting component includes a first connector, a second connector, and a first elastic connector. One end of the first connector is connected to the output shaft of the first motor, and the other end of the first connector is rotatably connected to one end of the first elastic connector. One end of the second connector is connected to the end of the lower leg component away from the sole of the foot, and the other end of the second connector is rotatably connected to the other end of the first elastic connector.

[0009] The angle sensor is connected to the first connecting shaft and is used to obtain the rotation angle information of the lower leg component relative to the thigh component.

[0010] Optionally, the first elastic connector includes two first rigid rods disposed at its ends and a first spring disposed between the two first rigid rods, wherein the two first rigid rods are rotatably connected to the first connector and the second connector, respectively.

[0011] Optionally, the first elastic connector further includes a first housing, and the first housing has a guide groove, and the first spring is disposed in the guide groove.

[0012] Optionally, at least one of the first rigid rods is slidably disposed within the guide groove near the end of the first spring.

[0013] Optionally, the end of the first rigid rod rotatably connected to the second connector is slidably disposed within the guide groove near the end of the first spring; wherein the first rigid rod rotatably connected to the first connector is integrally disposed with the outer end of the first sleeve.

[0014] Optionally, the drive motor further includes a third motor for connection to the robot's main body; wherein the output shaft of the third motor is connected to the housing of the second motor, and the axial direction of the output shaft of the third motor is perpendicular to the axial direction of the output shaft of the second motor.

[0015] Optionally, the first connector includes a semi-circular connecting disc and a protruding connecting end. The semi-circular connecting disc is fixedly connected to the output shaft of the first motor, and the protruding connecting end is connected to the straight edge of the semi-circular connecting disc and is rotatably connected to the first elastic connector.

[0016] Optionally, the linkage-type leg variable cell structure further includes a transfer disc disposed between the semi-circular connecting disc and the output shaft of the first motor, wherein the semi-circular connecting disc is fixedly connected to the output shaft of the first motor through the transfer disc; wherein the protruding connecting end is suspended relative to the transfer disc to form a first mounting seam, and one end of the first elastic connecting member is disposed in the first mounting seam to be rotatably connected to the protruding connecting end.

[0017] Optionally, the thickness of the straight edge of the semicircular connecting disk connected to the protruding connecting end is greater than the thickness of the arc-shaped portion of the semicircular connecting disk on the side away from the protruding connecting end.

[0018] Secondly, a robot comprising a link-type leg variant structure as described above.

[0019] The beneficial effects of this invention are as follows: By further providing a connecting component between the thigh component and the calf component, the connecting component is a multi-link structure, including a first connecting member, a second connecting member, and a first elastic connecting member. One end of the first connecting member is connected to a drive motor, and the other end of the first connecting member is rotatably connected to the first elastic connecting member. One end of the second connecting member is connected to the end of the calf component away from the foot, and the other end of the second connecting member is rotatably connected to the first elastic connecting member. An angle sensor is provided and connected to the first connecting shaft to obtain the rotation angle information of the calf component relative to the thigh component. The invention utilizes the dimensions of the first connecting member, the dimensions of the second connecting member, the original dimensions and the dimensions after elastic deformation of the first elastic connecting member, the rotation angle information of the output shafts of the first and second motors, and the rotation angle information of the thigh component relative to the first connecting shaft. By analyzing the rotation angle information of the components, a geometric model is constructed to calculate the force exerted by the first elastic connector on the second connector, and the torque exerted by the first elastic connector on the joint connecting the lower leg and thigh components is obtained. Then, by using geometric analysis methods or the Denavit-Hartenberg (DH) parameter calibration method to analyze the plane containing the thigh and lower leg, the relative position between the first connecting axis and the foot can be calculated, thus obtaining the horizontal distance between the first connecting axis and the foot. Combining this with the torque exerted by the first elastic connector on the joint connecting the lower leg and thigh components, the force at the foot can be calculated. This indirect sensing scheme for foot force based on the deformation derivation of the first elastic connector does not require complex sensors, reducing costs and allowing for convenient estimation of the force at the foot, thus improving the convenience of obtaining foot force feedback. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a linkage-type leg variable cell structure in an embodiment of the present invention;

[0021] Figure 2 for Figure 1 A magnified view of a portion of region F in the middle;

[0022] Figure 3 This is a schematic diagram of another structure of the linkage-type leg variable cell structure in an embodiment of the present invention;

[0023] Figure 4 This is a geometric analysis diagram of the first morphology of the linkage-type leg variable cell structure in an embodiment of the present invention;

[0024] Figure 5 This is a geometric analysis diagram of the second morphology of the linkage-type leg variable cell structure in an embodiment of the present invention;

[0025] Figure 6 This is a schematic diagram of the first structure of the robot in an embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of the second structure of the robot in an embodiment of the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] Linkage-type leg variable cell structure 10; drive motor 20; third motor 23; second motor 22; first motor 21; thigh component 30; lower leg component 40; connecting component 50; first connector 51; second connector 52; first elastic connector 53; first rigid rod 54; first spring 55; first housing 56; guide groove 57; semi-circular connecting plate 58; protruding connecting end 59; angle sensor 60; first connecting shaft 61; adapter disk 62; first mounting seam 63; straight edge 64; arc-shaped part 65; clearance groove 66; robot 100; main body 110; plate 120; rotating shaft 130. Detailed Implementation

[0029] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0030] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0031] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0032] In related technologies, during robot movement, the foot end of the lower leg serves as the primary actuator for interaction between the robot and the external environment, and its force feedback information plays a crucial role in system control. Currently, commonly used foot force / torque sensors are mostly based on strain gauge principles. These strain gauge sensors are highly sensitive to environmental temperature and material creep, have strict requirements for the installation location, and are prone to drift and nonlinear responses, thus affecting the stability and repeatability of the sensor. Furthermore, the structure is complex, and the sensor cost is high. Therefore, how to conveniently obtain foot force information is a technical problem that urgently needs to be solved by those skilled in the art.

[0033] To address the problems existing in the aforementioned related technologies, the present invention provides a linkage-type leg-type variable cell structure 10 and its robot.

[0034] Combination Figures 1 to 5 As shown, a linkage-type variable-cell leg structure 10 includes a drive motor 20, a thigh component 30, a lower leg component 40, a connecting component 50, and an angle sensor 60. The drive motor 20 includes a first motor 21, a second motor 22, and a motor encoder. The output shaft of the second motor 22 is connected to the housing of the first motor 21, and the axial direction of the output shaft of the second motor 22 is aligned with the axial direction of the output shaft of the first motor 21. The motor encoder is used to acquire rotation angle information of the output shafts of the first motor 21 and the second motor 22. One end of the thigh component 30 is connected to the housing of the first motor 21, and the other end of the thigh component 30 is connected to the lower leg. Component 40 is rotatably connected via a first connecting shaft 61; the connecting component 50 includes a first connecting member 51, a second connecting member 52, and a first elastic connecting member 53. One end of the first connecting member 51 is connected to the output shaft of the first motor 21, and the other end of the first connecting member 51 is rotatably connected to one end of the first elastic connecting member 53. One end of the second connecting member 52 is connected to the end of the lower leg component 40 away from the sole of the foot, and the other end of the second connecting member 52 is rotatably connected to the other end of the first elastic connecting member 53. The angle sensor 60 is connected to the first connecting shaft 61 and is used to obtain the rotation angle information of the lower leg component 40 relative to the thigh component 30.

[0035] A connecting component 50 is provided between the thigh component 30 and the lower leg component 40. The connecting component 50 is a multi-link structure, including a first connecting member 51, a second connecting member 52, and a first elastic connecting member 53. One end of the first connecting member 51 is connected to the drive motor 20, and the other end of the first connecting member 51 is rotatably connected to the first elastic connecting member 53. One end of the second connecting member 52 is connected to the end of the lower leg component 40 away from the foot, and the other end of the second connecting member 52 is rotatably connected to the first elastic connecting member 53. An angle sensor 60 is provided and connected to the first connecting shaft 61 to obtain the rotation angle information of the lower leg component 40 relative to the thigh component 30. A motor encoder is provided in the drive motor 20 to obtain the rotation angle information of the output shafts of the first motor 21 and the second motor 22, so as to obtain the rotation angle information of the thigh component 30 relative to the first connecting member 51. The dimensions of the first connecting member 51, the second connecting member 52, the original dimensions of the first elastic connecting member 53, and the dimensions after elastic deformation are used to obtain the rotation angle information of the thigh component 30 relative to the first connecting member 51. Based on the rotation angle information of the lower leg component 40 relative to the thigh component 30 and the rotation angle information of the thigh component 30 relative to the first connecting member 51, a geometric model is constructed to calculate the force exerted by the first elastic connecting member 53 on the lower leg component 40 through the second connecting member 52, and to obtain the torque of the first elastic connecting member 53 at the joint connecting the lower leg component 40 and the thigh component 30. Then, by using geometric analysis methods or the DH (Denavit-Hartenberg, parameter calibration) parameter method to analyze the plane where the thigh and lower leg are located, the relative position between the first connecting shaft 61 and the foot can be calculated to obtain the horizontal distance between the first connecting shaft 61 and the foot. Combining the torque of the first elastic connecting member 53 at the joint connecting the lower leg component 40 and the thigh component 30, the foot force can be calculated. The indirect sensing of foot force based on the deformation derivation of the first elastic connecting member 53 makes the overall structure compact, eliminates the need for complex sensors, reduces costs, and allows for convenient estimation of the force on the foot, improving the convenience of obtaining foot force feedback.

[0036] Simultaneously, the output shaft of the second motor 22 drives the housing of the first motor 21 to rotate. The axial direction of the output shaft of the second motor 22 is aligned with the axial direction of the output shaft of the first motor 21. One end of the thigh component 30 is connected to the housing of the first motor 21, and one end of the first connector 51 is connected to the output shaft of the first motor 21. The second motor 22 and the first motor 21 cooperate with each other. Both the housing of the first motor 21 and the output shaft of the first motor 21 can rotate, driving the thigh component 30 and the lower leg component 40 to perform flexion and extension movements. With the coordinated control of the output shaft of the second motor 22, the thigh component 30 and the lower leg component 40 can walk and change their shape.

[0037] For details, please refer to [link / reference]. Figure 1 , Figure 3Alternatively, the housing and output shaft of the first motor 21 can be locked together, with the output shaft of the first motor 21 fixed relative to its housing. In this case, the first motor 21 is equivalent to a rigid connector, and its output shaft rotates synchronously with the housing. The second motor 22 drives the housing of the first motor 21 to rotate, which in turn drives the thigh component 30 to rotate. The first connecting shaft 61 between the thigh component 30 and the lower leg component 40 is free to rotate. When the foot of the lower leg component 40 contacts the ground (or other fixed surface or other fixed body), the lower leg component 40 is constrained by the ground reaction force, forming a fixed fulcrum. Since the first elastic connector 53 is... With deformation capability, the lower leg component 40 remains stationary due to the ground reaction force. The rotation of the thigh component 30 will transmit deformation through the first elastic connector 53, thereby applying force to the second connector 52 and the lower leg component 40, causing the lower leg component 40 to rotate around the first connecting shaft 61. The thigh component 30 and the lower leg component 40 rotate relative to each other through the first connecting shaft 61. Then, the lower leg component 40 moves around the foot fulcrum under the drive of the thigh component 30, thereby realizing the change of configuration, and can realize, for example, the cellular switching between mammalian and arthropod forms.

[0038] First, a geometric analysis of the structure is performed from a perspective perpendicular to the thigh component 30. For details, please refer to [link to relevant documentation]. Figure 4 In the first form, such as the mammalian form, taking the quadrilateral linkage structure used in the legs as an example, the first connector 51 is fixedly connected to the output shaft of the drive motor 20, with the axis center mark of the output shaft of the drive motor 20 as the point. A The connection point between the first connector 51 and the first elastic connector 53 that is rotatably connected is marked as the point. B The center mark of the first connecting shaft 61, which rotatably connects the lower leg component 40 and the thigh component 30, is taken as the point. C The connection point between the first elastic connector 53 and the second connector 52 that is rotatably connected is marked as the point. D These four points form a quadrilateral-like structure. ABCD Although the first elastic connector 53 will deform and change length during the stress process, and the actual structure is not a quadrilateral in the strict sense, it is simplified into a quadrilateral structure in the geometric model for the convenience of analysis, so as to facilitate the estimation of the motion relationship between the members and the related forces.

[0039] in, AC For a fixed length, denoted as L 1; The dimensions of the second connector 52 are fixed, and the second connector 52 can be integrally set with the lower leg component 40, therefore CD For a fixed length, denoted as L 2; The dimensions of the first connector 51 are fixed. AB For a fixed length, denoted asL 3; point B With point D They are connected by a first elastic connector 53, the length of which is dynamically adjusted according to the force applied. BD The real-time length is denoted as L 4, BD The free length is denoted as L 0; L 0 represents the natural length of the first elastic connector 53 in a state without tension or compression. L 4 greater than L When the time is 0, the first elastic connector 53 is in a stretched state; conversely, when the time is 0, the first elastic connector 53 is in a stretched state. L 4 less than L At time 0, the first elastic connector 53 is in a compressed state. The corresponding joint angle is measured by the angle sensor 60 and the motor encoder respectively. θ 1 and θ 2. Easy to understand: The motor encoder can be set individually or integrated, as shown in the figure; θ 1 is ∠ ACD Angle, θ 2 is ∠ BAC Angle, θ 3 is ∠ BDC From the perspective of angle, combined with the geometric parameters under the initial structural configuration, the quantitative relationship between the length of the elastic link and the joint angle can be derived using the cosine and sine laws. The following formula is based on a quadrilateral link structure of the leg in mammalian morphology, describing the real-time length of the first elastic connector 53, denoted as . L 4. Relationship with known geometric parameters:

[0040] (1)

[0041] (2)

[0042] (3)

[0043] (4)

[0044] Based on the above geometric relationship, the real-time length of the first elastic connector 53 can be further calculated. L 4. Force analysis is performed using Hooke's Law. Given the free length of the first elastic connector 53... L Under the premise of 0, its deformation amount L = L 4- L 0 can be used to calculate the axial tensile force generated by the first elastic connector 53 on the second connector 52. F 1. Its expression is:

[0045] (5)

[0046] in, k The spring constant in the first elastic connector 53 is the spring constant. L 4 represents the real-time length of the first elastic connector 53. L 0. The free length of the first elastic connector 53. Further, considering the structural layout of the mechanism, the second connector 52 is fixedly disposed with the lower leg component 40. For example, the second connector 52 is integrally disposed with the lower leg component 40. A torque balance equation can be established around the lower leg joint (i.e., at the first connecting shaft 61 where the thigh component 30 and the lower leg component 40 connect), and the torque experienced at this joint can be calculated. M :

[0047] (6)

[0048] (7)

[0049] in, L 2 represents the length of the lever arm from the point of application of the spring force to the lower leg joint. θ 3 represents the angle between the connecting rod and the reference horizontal line. θ 3 is ∠ BDC The angle.

[0050] For further details on the second form, please refer to [link / reference]. Figure 5 For example, in the arthropod / crawling form, the leg structure is modeled and analyzed. A schematic diagram of a reverse-quadruple linkage mechanism is shown for the leg in the arthropod / crawling form. The diagram illustrates the geometric relationships between the main links and key parameters related to angle measurement. The first connecting member 51 is fixedly connected to the output shaft of the drive motor 20, with the axis mark of the output shaft of the drive motor 20 as the point. A The connection point between the first connector 51 and the first elastic connector 53 that is rotatably connected is marked as the point. B The center mark of the first connecting shaft 61, which rotatably connects the lower leg component 40 and the thigh component 30, is taken as the point. C The connection point between the first elastic connector 53 and the second connector 52 that is rotatably connected is marked as the point. D , AC Connecting and BD The intersection of the lines is marked as a point. E .

[0051] In the structural modeling of the leg in arthropod / reptilian morphology, the corresponding joint angles are still measured by the angle sensor 60 and the motor encoder, respectively. θ 1 and θ 2. Considering the geometric configuration of the mechanism, θ 3 is ∠ BDC The angle can be calculated based on the geometric properties of a triangle, which gives the angle of the first elastic connector 53. θ 4. Specifically, θ 4 is ∠ AEB The angle. Based on this, the real-time length of the first elastic connector 53 can be further derived by applying the sine theorem. L 4. Quantitative relationship between the angles and the corresponding joint angles.

[0052] (8)

[0053] (9)

[0054] After obtaining the above relationship, the real-time length of the first elastic connector 53 can be calculated. L 4. Force analysis is performed using Hooke's Law. Given the free length of the first elastic connector 53... L Under the premise of 0, its deformation amount L = L 4- L 0 can be used to calculate the axial tensile force generated by the first elastic connector 53 on the second connector 52. F 1. The second connecting member 52 can be integrally formed with the lower leg component 40, and the torque at the joint (i.e., at the first connecting shaft 61 where the thigh component 30 and the lower leg component 40 are connected) can be further calculated. M :

[0055] (10)

[0056] (11)

[0057] The above formula derives the elastic force and the torque it causes at the joint (i.e., at the first connecting shaft 61 where the thigh component 30 and the lower leg component 40 are connected) by structural angle measurement data and known parameters. This provides a mathematical basis for the indirect perception of the force on the foot end of the leg configuration in mammalian, arthropod, or reptilian forms. By using geometric analysis methods or the DH (Denavit-Hartenberg, parameter calibration) parameter method to analyze the plane where the thigh and lower leg are located, the relative position between the first connecting shaft 61 and the foot end can be calculated to obtain the horizontal distance between the first connecting shaft 61 and the foot end. Combined with the torque of the first elastic connector at the joint connecting the lower leg component and the thigh component, the force at the foot end can be calculated.

[0058] Specifically, please refer to Figure 1 , Figure 3The drive motor 20 can drive the thigh component 30 to rotate. The first connecting shaft 61 between the thigh component 30 and the lower leg component 40 is free to rotate. When the foot end of the lower leg component 40 contacts the ground (or other contact surface), the lower leg component 40 is constrained by the ground reaction force, forming a fixed fulcrum. Since the first elastic connector 53 has deformation capability, the lower leg component 40 remains stationary due to the ground reaction force. The rotation of the thigh component 30 will transmit deformation through the first elastic connector 53, thereby applying a force to the first connecting shaft 61, causing the first connecting shaft 61 to generate a rotational tendency. The thigh component 30 and the lower leg component 40 rotate relative to each other through the first connecting shaft 61. Then, the lower leg component 40 moves around the foot end fulcrum under the drive of the thigh component 30, thereby realizing the change of configuration, which can realize, for example, the cellular switching between mammalian and arthropod morphologies.

[0059] In some embodiments, please refer to the following for details. Figure 3 The first elastic connector 53 includes two first rigid rods 54 located at its ends and a first spring 55 located between the two first rigid rods 54. The two first rigid rods 54 are rotatably connected to the first connector 51 and the second connector 52, respectively. The two first rigid rods 54 are located at the ends of the first elastic connector 53, serving as the connection medium between the first spring 55 and the first connector 51 and the second connector 52. This ensures the rigidity of force transmission and prevents force transmission distortion caused by deformation of the connection parts. The end design of the rigid rods is adapted to the requirements of the rotatable connection, reducing frictional loss during force transmission and ensuring that the elastic component only undergoes axial deformation after being subjected to force, facilitating the accurate derivation of the deformation size. The first spring 55 is located between the two first rigid rods 54 and is the core deformation component of the first elastic connector 53. It converts force into quantifiable elastic deformation, and its deformation degree is linearly related to the magnitude of the force within the elastic limit. The selection of the elastic component is flexible, and different types of elastic coefficients can be adapted according to the robot's load requirements, improving the adaptability of the structure.

[0060] Specifically, the rotatable connection between the first rigid rod 54 and the second connecting member 52 can be achieved by a pin.

[0061] In some embodiments, please refer to the following for details. Figure 3The first elastic connector 53 further includes a first housing 56, within which a guide groove 57 is provided, and the first spring 55 is disposed within the guide groove 57. The first housing 56 provides a closed protective space for the first spring 55 and the rigid rod, isolating the elastic component from external environmental factors such as dust, humidity, and temperature changes, and improving the overall structural strength of the first elastic connector 53. This prevents the elastic component from bending or being damaged due to lateral forces, ensuring long-term reliability. The extension direction of the first spring 55 is parallel to the extension direction of the guide groove 57. The guide groove 57 is disposed within the first housing 56, and the first spring 55 is disposed within the groove. This precisely limits the deformation direction of the first spring 55, ensuring that the first spring 55 only undergoes extension and contraction along the axial direction of the guide groove 57. This avoids distortion of the force-deformation relationship caused by lateral offset or torsional deformation, improving the linearity and repeatability accuracy of force calculation.

[0062] In some embodiments, please refer to the following for details. Figure 3 At least one of the first rigid rods 54 is slidably disposed within the guide groove 57, near the end of the first spring 55. This sliding connection allows the first rigid rod 54 to move smoothly along the guide groove 57 as the first spring 55 extends and retracts, further enhancing the guiding and limiting effect of the guide groove 57 on the sliding of the first rigid rod 54. This prevents uneven force distribution on the first spring 55 caused by the first rigid rod 54 shifting, further improving the accuracy and repeatability of the force-deformation relationship.

[0063] In some embodiments, please refer to the following for details. Figure 3 The first rigid rod 54, rotatably connected to the second connector 52, is slidably disposed within the guide groove 57 near the end of the first spring 55. The first rigid rod 54, rotatably connected to the first connector 51, is integrally formed with the outer end of the first housing 56. The end of the first rigid rod 54, rotatably connected to the second connector 52, is slidably disposed within the guide groove 57. This first rigid rod 54 directly bears the force from the foot end of the lower leg component 40. The sliding design ensures smooth compression or stretching of the first spring 55 under force, with no redundancy in the force transmission path, reducing energy loss. The movement trajectory of the end of the first rigid rod 54 is strictly limited by the guide groove 57, ensuring the consistency of the deformation of the first spring 55 and improving the repeatability accuracy of force calculation. The first rigid rod 54, rotatably connected to the first connector 51, is integrally formed with the outer end of the first housing 56. This integral structure eliminates assembly gaps and connection errors in this area, improves structural strength, simplifies the calculation logic of deformation dimensions in the geometric model, and reduces data processing complexity by measuring the length of the rod as a whole.

[0064] In some embodiments, please refer to the following for details. Figure 1The drive motor 20 also includes a third motor 23 for connecting to the main body of the robot; the output shaft of the third motor 23 is connected to the housing of the second motor 22, and the axial direction of the output shaft of the third motor 23 is perpendicular to the axial direction of the output shaft of the second motor 22.

[0065] The third motor 23 is connected to the robot body. The axial direction of the output shaft of the third motor 23 is perpendicular to the axial direction of the output shaft of the second motor 22. The output shaft of the third motor 23 drives the housing of the second motor 22 to rotate. At the same time, it can also drive the entire second motor 22, the entire first motor 21, and other components to rotate around the axial direction of the output shaft of the third motor 23, thereby realizing the rotation of the linkage-type leg variable cell structure 10 on the robot body.

[0066] In some embodiments, please refer to the following for details. Figure 1 , Figure 2 The first connector 51 includes a semi-circular connecting disk 58 and a protruding connecting end 59. The semi-circular connecting disk 58 is fixedly connected to the output shaft of the first motor 21. The protruding connecting end 59 is connected to the straight edge 64 of the semi-circular connecting disk 58 and is rotatably connected to the first elastic connector 53.

[0067] The first connector 51 includes a semi-circular connecting plate 58 fixedly connected to the output shaft of the first motor 21. The semi-circular structure, while ensuring strong connection with the motor output shaft, saves material compared to a circular connecting plate, reducing the overall weight of the leg and lowering the energy consumption of the drive motor 20. The arc-shaped contour design reduces interference with surrounding components, ensuring the leg's range of motion. The protruding design of the protruding connecting end 59 of the first connector 51 provides an independent rotation connection point for the first elastic connector 53, preventing interference between the connection part and the connecting plate body or the motor output shaft, ensuring rotational flexibility.

[0068] Specifically, please refer to Figure 1 , Figure 2 The semi-circular connecting disc 58 and the protruding connecting end 59 are integrally formed. The integrally formed structural design improves the overall rigidity and connection reliability of the first connecting member 51, reduces assembly errors and the risk of loosening, and simplifies the manufacturing process.

[0069] Specifically, please refer to Figure 1 , Figure 2 The protruding connecting end 59 is located at the end of the straight edge 64 of the semi-circular connecting disk 58, so that the connection point is closer to the edge, maximizing the leverage effect and improving the transmission efficiency.

[0070] Specifically, the protruding connecting end 59 is hinged to the first elastic connecting member 53 by a pin, ensuring that the degree of freedom of the rotating pair is not restricted, while transmitting torque.

[0071] In some embodiments, please refer to the following for details. Figure 1 , Figure 2 The linkage-type leg variable cell structure 10 further includes a transfer disk 62 disposed between the semi-circular connecting disk 58 and the output shaft of the first motor 21. The semi-circular connecting disk 58 is fixedly connected to the output shaft of the first motor 21 through the transfer disk 62. The protruding connecting end 59 is suspended relative to the transfer disk 62 to form a first mounting seam 63. One end of the first elastic connecting member 53 is disposed in the first mounting seam 63 to be rotatably connected to the protruding connecting end 59.

[0072] The semi-circular connecting plate 58 is fixedly connected to the output shaft of the first motor 21 via the adapter plate 62. This indirect connection reduces the machining accuracy requirements of the connecting plate and the motor output shaft, thus reducing machining costs. The fixed connection ensures that the rotation angle of the motor output shaft can be fully transmitted to the connecting plate, providing accurate drive angle parameters for the geometric model and avoiding angle loss. The suspended design of the protruding connecting end 59 prevents interference between the adapter plate 62 and the first elastic connector 53, ensuring the rotational freedom of the elastic connector. The first mounting seam 63 provides precise installation space for the elastic connector.

[0073] In some embodiments, please refer to the following for details. Figure 1 , Figure 2 The thickness of the straight edge 64 connecting the semi-circular connecting plate 58 and the protruding connecting end 59 is greater than the thickness of the arc-shaped portion 65 of the semi-circular connecting plate 58 on the side away from the protruding connecting end 59. The straight edge 64 is the connecting carrier of the protruding connecting end 59. The thickened design improves the structural strength and rigidity of this part, effectively withstands stress concentration during force transmission, avoids deformation or breakage of the connection part, and ensures the reliability of force transmission. At the same time, the thickened design can also provide more sufficient accommodation space for the first mounting seam 63, ensuring that the first elastic connector 53 is installed firmly and rotates smoothly.

[0074] In some embodiments, the semi-circular connecting plate 58 is provided with a plurality of mounting holes penetrating the connecting surface of the semi-circular connecting plate 58. These mounting holes provide installation positions for fasteners such as bolts and screws, enabling a secure connection between the connecting plate and the adapter disc 62 through multi-point fixing, preventing relative displacement during movement and ensuring the stability of angle information and force transmission. The hole distribution can be adapted to adapter discs 62 or motor output shafts of different sizes, improving structural versatility and eliminating the need for a separately designed dedicated connection structure. The through-hole design facilitates positioning and tightening operations during assembly, while also facilitating subsequent disassembly and maintenance, reducing maintenance costs.

[0075] In some embodiments, please refer to the following for details. Figure 1The thigh component 30 includes a clearance groove 66 on a surface near the first elastic connector 53, which corresponds to the first housing 56. The clearance groove 66 provides ample movement space for the first housing 56 of the first elastic connector 53, preventing the thigh component 30 from colliding or rubbing against the housing during bending, extending, or other movements of the leg, ensuring unrestricted leg movement and adapting to various robot postures. Simultaneously, the clearance groove 66 can reduce the local mass of the thigh component 30, lower inertial loads, and improve motion response speed.

[0076] In some embodiments, the thigh component 30 further includes a motor mounting hole comprising two opposing semicircles and a rectangle positioned between the two semicircles. The diameter of the two semicircles is larger than the diameter of the adapter disk 62, ensuring that the adapter disk 62 does not interfere with the motor mounting hole during rotation; it also facilitates the assembly and alignment between the thigh component 30, the connecting component 50, and the drive motor 20, improving installation efficiency.

[0077] A robot 100 includes a linkage-type leg variable cell structure 10 as described in any of the above embodiments. The specific structure of the linkage-type leg variable cell structure 10 is covered in the foregoing embodiments; please refer to any of the above-described embodiments of the linkage-type leg variable cell structure 10 and the accompanying drawings for details.

[0078] Specifically, the linkage-type leg variable cell structure 10 and the main body 110 of the robot 100 can be stably assembled through the drive motor 20 to ensure the reliability and stability of the leg structure in complex movements.

[0079] Specifically, please refer to Figure 6 , Figure 7 The robot 100 includes a main body 110, which includes multiple plates 120. The number of linkage-type variable-cell leg structures 10 can also be multiple, corresponding to the number of plates 120. For example, there can be four linkage-type variable-cell leg structures 10 and four plates 120. A third motor 23 of each linkage-type variable-cell leg structure 10 is fixedly connected to the plate 120, achieving a rigid connection for the power transmission path. Specifically, the plate 120 is connected to the housing of the third motor 23, which is perpendicular to the plate 120, with its output shaft perpendicular to the plate 120. The power to drive the rotating shaft 130 can be provided by other motors, and this is not limited here.

[0080] Specifically, please refer to Figure 6 , Figure 7The main body 110 also includes a rotating shaft 130, which can be located between two adjacent plates 120. At least two adjacent plates 120 can rotate relative to each other through the rotating shaft 130, thereby adjusting the spatial layout of the linkage-type leg variable cell structure 10. Combined with the shape transformation capability of the linkage-type leg variable cell structure 10, the robot 100 can adapt to different terrains and task requirements.

[0081] For example, please see Figure 6 By driving the rotating shaft 130 to rotate, the included angle between adjacent plates 120 can be changed, thereby adjusting the spatial distribution of the linkage-type leg variable cell structure 10. The output shaft direction of the third motor 23 is repositioned according to the posture change of the plate 120. When the output shaft direction of the third motor 23 is set in the horizontal direction, that is, the X-axis or Y-axis direction, it is the mammalian form of the robot 100. By driving the linkage-type leg variable cell structure 10, it can realize gait movement similar to mammals, enabling it to cross obstacles, climb slopes, adapt to unstructured terrain such as mountains and ruins, and has strong stability in bumpy environments. At the same time, it supports diverse actions such as running, jumping, and crawling. The four limbs are driven independently, which can balance mobility and a certain heavy load capacity, making it suitable for practical operation scenarios that require carrying equipment.

[0082] For example, please see Figure 7 By driving the rotating shaft 130 to rotate, the included angle between adjacent plates 120 can be changed, thereby adjusting the spatial distribution of the linkage-type leg variable cell structure 10. The output shaft direction of the third motor 23 is repositioned according to the posture change of the plate 120. When the output shaft direction of the third motor 23 is set in the vertical direction, that is, in the Z-axis direction, it is the arthropod form of the robot 100. By driving the linkage-type leg variable cell structure 10, it can realize gait movement similar to arthropods, and can realize high-frequency jumping, fast crawling and other movement modes. It is suitable for efficient movement on flat or soft ground, and especially shows excellent mobility and speed advantages in open areas.

[0083] By dynamically adjusting the angle between the plates and real-time reconfiguration of the linkage-type leg variable cell structure 10, the robot can smoothly switch between mammalian and arthropod movement modes, achieving adaptive conversion of movement modes to cope with complex and ever-changing task environments.

[0084] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A linkage-type variable cell structure for legs, characterized in that, Includes a drive motor (20), a thigh component (30), a lower leg component (40), a connecting component (50), and an angle sensor (60), wherein: The drive motor (20) includes a first motor (21), a second motor (22) and a motor encoder. The output shaft of the second motor (22) is connected to the housing of the first motor (21). The axial direction of the output shaft of the second motor (22) is aligned with the axial direction of the output shaft of the first motor (21). The motor encoder is used to obtain the rotation angle information of the output shafts of the first motor (21) and the second motor (22). One end of the thigh component (30) is connected to the housing of the first motor (21), and the other end of the thigh component (30) is rotatably connected to the calf component (40) via the first connecting shaft (61). The connecting component (50) includes a first connecting member (51), a second connecting member (52), and a first elastic connecting member (53). One end of the first connecting member (51) is connected to the output shaft of the first motor (21), and the other end of the first connecting member (51) is rotatably connected to one end of the first elastic connecting member (53). One end of the second connecting member (52) is connected to the end of the lower leg component (40) away from the sole of the foot, and the other end of the second connecting member (52) is rotatably connected to the other end of the first elastic connecting member (53). The angle sensor (60) is connected to the first connecting shaft (61) and is used to obtain the rotation angle information of the lower leg component (40) relative to the thigh component (30); The rotation angle information obtained by the angle sensor (60) and the motor encoder is used to combine the geometric dimensions of the first connector (51), the second connector (52) and the first elastic connector (53) to calculate the deformation of the first elastic connector (53) through geometric relationships, and obtain the force information of the foot end based on the correspondence between the deformation and the elastic force.

2. The linkage-type leg variable cell structure according to claim 1, characterized in that, The first elastic connector (53) includes two first rigid rods (54) at the end and a first spring (55) between the two first rigid rods (54). The two first rigid rods (54) are rotatably connected to the first connector (51) and the second connector (52), respectively.

3. The linkage-type leg variable cell structure according to claim 2, characterized in that, The first elastic connector (53) also includes a first housing (56), and the first housing (56) is provided with a guide groove (57), and the first spring (55) is provided in the guide groove (57).

4. The linkage-type leg variable cell structure according to claim 3, characterized in that, At least one of the first rigid rods (54) is slidably disposed within the guide groove (57) near the end of the first spring (55).

5. The linkage-type leg variable cell structure according to claim 4, characterized in that, The first rigid rod (54), which is rotatably connected to the second connector (52), is slidably disposed in the guide groove (57) near the end of the first spring (55); The first rigid rod (54), which is rotatably connected to the first connector (51), is integrally formed with the outer end of the first housing (56).

6. The linkage-type leg variable cell structure according to claim 1, characterized in that, The drive motor (20) also includes a third motor (23) for connecting to the main body of the robot; The output shaft of the third motor (23) is connected to the housing of the second motor (22), and the axial direction of the output shaft of the third motor (23) is perpendicular to the axial direction of the output shaft of the second motor (22).

7. The linkage-type leg variable cell structure according to claim 1, characterized in that, The first connector (51) includes a semi-circular connecting disk (58) and a protruding connecting end (59). The semi-circular connecting disk (58) is fixedly connected to the output shaft of the first motor (21). The protruding connecting end (59) is connected to the straight edge (64) of the semi-circular connecting disk (58) and is rotatably connected to the first elastic connector (53).

8. The linkage-type leg variable cell structure according to claim 7, characterized in that, The linkage-type leg variable cell structure (10) also includes a transfer disk (62) disposed between the semi-circular connecting disk (58) and the output shaft of the first motor (21), and the semi-circular connecting disk (58) is fixedly connected to the output shaft of the first motor (21) through the transfer disk (62); The protruding connecting end (59) is suspended relative to the adapter disk (62) to form a first mounting seam (63), and one end of the first elastic connector (53) is located in the first mounting seam (63) to be rotatably connected to the protruding connecting end (59).

9. The linkage-type leg variable cell structure according to claim 8, characterized in that, The thickness of the straight edge (64) where the semicircular connecting plate (58) connects to the protruding connecting end (59) is greater than the thickness of the arc-shaped portion (65) on the side of the semicircular connecting plate (58) away from the protruding connecting end (59).

10. A robot, characterized in that, Includes the linkage-type leg-shaped variable cell structure as described in any one of claims 1 to 9.

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