Foot type robot using worm speed reducer and driving method of foot type robot
By using a worm gear reducer and sensor system in a legged robot, it is possible to maintain balance at the equilibrium point without additional energy, thereby enhancing load capacity and endurance and solving the problem of insufficient load capacity in existing legged robots.
Patent Information
- Application Number
- CN202311537322.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-11-17
- Publication Date
- 2026-04-03
AI Technical Summary
Existing legged robots have insufficient load capacity and endurance. In particular, bipedal robots cannot carry heavy items like humans, and worm gear reducers are not widely used due to excessive power loss.
The worm gear reducer is used as the core component of the self-locking articulated arm. Combined with multiple drive devices and sensors, the self-locking function of the worm gear reducer can maintain the robot's balance at the equilibrium point without additional energy, while the other legs adjust their gait, increasing the load and endurance.
The load capacity and endurance of the legged robot have been improved. The self-locking function of the worm gear reducer enables the articulated arm to withstand more loads and achieves a low-power state when the robot is not moving.
Smart Images
Figure CN121778069A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of legged robot technology, specifically to a legged robot using a worm gear reducer and its driving method. Background Technology
[0002] The legged robots on the market are mainly bipedal, tripedal, quadrupedal, and hexapedal robots. Under the same specifications, these legged robots use motors without worm gear reducers. This means they lack a self-locking function, which can cause the robot to stall and malfunction when subjected to a large load without power. They generally use planetary reducers, harmonic reducers, or other types of reducers, but they avoid using worm gear reducers because they believe that worm gear reducers have too much power loss. However, this idea obviously ignores some of the more beneficial factors of worm gear reducers.
[0003] The problem with existing technology is that the load capacity of current legged robots is too small compared to humans, or rather, it is inferior to the overall load capacity and battery life of dogs and cows of similar size. Taking quadruped robots as an example, the quadruped robots on the market are mainly motor-driven robots. These quadruped robots have very small load capacities; a quadruped robot of about 30cm*50cm*42cm has a load capacity of only a few kilograms.
[0004] The current technical problem is that bipedal robots have a much smaller load capacity than existing legged robots. This is not just a small capacity; a human can carry a load of 100 kilograms or more while consuming only a piece of candy, but existing bipedal robots cannot.
[0005] To address this, a legged robot using a worm gear reducer and its driving method are proposed. Summary of the Invention
[0006] The purpose of this invention is to provide a legged robot using a worm gear reducer and its driving method, so as to solve the problems mentioned in the background art.
[0007] To achieve the above objectives, the present invention provides the following technical solution: a main structure of a legged robot using a worm gear reducer, mainly comprising 2, 3, 4, 5 to 12 legs or arms. Each leg or arm is mainly composed of 2, 3, 4, 5, 6 to 12, 13 to 128 self-locking joint arms. Each self-locking joint arm is mainly composed of 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 to 512 worm gear reducers and 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 to 24 drive devices. The output end of the drive device is connected to the input end of the worm gear reducer. The legs or arms of the legged robot are mainly formed by the movable connection of multiple self-locking joint arms. (The main component is the worm gear reducer, but this doesn't mean it's the only component. Some reduction gears can be used before the worm gear reducer for primary speed reduction, and some can be used after it for end-effector speed reduction. However, the core component is still the worm gear reducer. The number of drive units is 512 because some motors are too small to be used in large quantities, so some people use motors in parallel. The most common example is the use of dual Z-axis in 3D printers, which uses two stepper motors or servo motors. Therefore, 512 units is a reasonable choice.) This way, when at least one leg is at its balance point, no additional energy is needed to keep the robot balanced. The other legs can then perform gait adjustments while maintaining balance, thus increasing the legged robot's endurance and load capacity. The self-locking function of the worm gear reducer allows the robot's articulated arms to withstand more load.
[0008] Specifically, the load of the self-locking articulated arm itself, as well as the torque or moment generated by other self-locking articulated arms on it, cannot exceed the torque or moment of its corresponding drive device. (That is to say, when the drive device is installed on the articulated arm, it must be able to drive the articulated arm to move itself; otherwise, it is meaningless. If it is less than that, it is like polio, unable to lift itself. In Earth's environment, the minimum requirement is that the torque or moment of the drive device can lift the weight of the articulated arm itself.) Legged robots are all like this; the torso and body are connected to the hands or legs and have certain basic functions. They are usually equipped with some batteries or computing devices, but this is not the key point of this invention. If the working torque or moment of the self-locking articulated arm is less than its load, it is meaningless; it cannot move at all, which is pointless.
[0009] The drive device mainly consists of a drive unit that provides feedback on one or two to nine of the following: position, angle, torque, stiffness, angular velocity, damping, or temperature. Equipping it with sensors is necessary; generally, robots need to acquire this information to determine their current state, thereby making gait adjustments and path planning.
[0010] The drive device mainly consists of one or a combination of two to four or five to six of the following: stepper motor, servo motor, torque motor, servo motor, hydraulic drive device, and pneumatic drive device. It is primarily composed of these types of motors or hydraulic devices. Generally speaking, using electric motors is more cost-effective because we have now entered the electrical age and they are more energy-efficient.
[0011] The input end of the worm gear reducer is either fixedly connected to or integrally formed with the output shaft of the drive device. The worm gear reducer mainly consists of a combination of a worm and a worm wheel with a reduction ratio between 1 / 12 and 1 / 128, or between 1 / 128.000000001 and 1 / 500. A reduction ratio less than 1 / 12 is essentially not very useful; this refers to the main reduction ratio. In reality, other types of reduction devices with lower reduction ratios can be connected before or after the worm gear reducer for primary speed reduction.
[0012] Specifically, the spiral angle of the worm gear is less than or equal to the friction angle between the worm and the turbine. (This is a necessary condition for the worm gear to self-lock; only with self-locking can it bear a load exceeding the torque of the motor itself.) This is a necessary condition for the worm gear reducer to self-lock; self-locking is required to withstand a greater load.
[0013] A drive control method for the main structure of a legged robot using a worm gear reducer is disclosed. This method primarily involves a host computer collecting one or two to seven key pieces of information from the legged robot, including position, angle, torque, stiffness, angular velocity, damping, and temperature. Based on this information, the robot's motion state is determined. The robot's balance is maintained primarily by the M-N legs (where M is the number of legs, e.g., bipedal, quadrupedal, hexapedal robots). The N legs adjust the gait, where N is less than M, and M-N is greater than or equal to N. This allows the robot to maintain balance without additional energy when at least one leg is at its equilibrium point. The other legs can then simultaneously provide balance and adjust the gait, increasing the robot's endurance and load capacity. The self-locking function of the worm gear reducer allows the robot's articulated arms to withstand greater loads.
[0014] The host computer mainly uses large model methods or motion algorithms to control the robot's movement.
[0015] The host computer mainly consists of radar, sensors, cameras, and computers.
[0016] The radar mainly consists of lidar, millimeter-wave radar, and meter-wave radar.
[0017] The sensor is mainly composed of one or a combination of two to eight of the following: position sensor, angle sensor, torque sensor, force sensor, stiffness sensor, angular velocity sensor, damping sensor, temperature sensor, or vibration sensor.
[0018] The camera mainly consists of a depth camera, a 3D camera, and a mobile phone camera. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of a legged robot using a worm gear reducer according to the present invention. Figure 1 ;
[0020] Figure 2 This is a schematic diagram of a legged robot using a worm gear reducer according to the present invention. Figure 2 ;
[0021] Figure 3 This is a schematic diagram of a legged robot using a worm gear reducer according to the present invention. Figure 3 ;
[0022] Figure 4 This is a schematic diagram of a legged robot using a worm gear reducer. Figure 4 ;
[0023] Figure 5 This is a schematic diagram of a legged robot using a worm gear reducer according to the present invention. Figure 5 ;
[0024] Figure 6 This is a schematic diagram of a legged robot using a worm gear reducer according to the present invention. Figure 6 ; Detailed Implementation
[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.
[0026] Please see Figure 1-6This invention provides a technical solution: a main structure of a legged robot using a worm gear reducer, mainly comprising 2, 3, 4, 5 to 12 legs or arms. Each leg or arm is mainly composed of 2, 3, 4, 5, 6 to 12, 13 to 128 self-locking joint arms. Each self-locking joint arm is mainly composed of 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 to 512 worm gear reducers and 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 to 24 drive devices. The output end of the drive device is connected to the input end of the worm gear reducer. The legs or arms of the legged robot are mainly composed of multiple self-locking joint arms that are movably connected. (The main component is the worm gear reducer, but this doesn't mean it's the only component. Some reduction gears can be used before the worm gear reducer for primary speed reduction, and some can be used after it for end-effector speed reduction. However, the core component is still the worm gear reducer. The number of drive units is 512 because some motors are too small to be used in large quantities, so some people use motors in parallel. The most common example is the use of dual Z-axis in 3D printers, which uses two stepper motors or servo motors. Therefore, 512 units is a reasonable choice.) This way, when at least one leg is at its balance point, no additional energy is needed to keep the robot balanced. The other legs can then perform gait adjustments while maintaining balance, thus increasing the legged robot's endurance and load capacity. The self-locking function of the worm gear reducer allows the robot's articulated arms to withstand more load.
[0027] Furthermore, the load on the self-locking articulated arm itself, as well as the torque or moment generated by other self-locking articulated arms on it, cannot exceed the torque or moment of its corresponding drive device. (That is to say, when the drive device is mounted on the articulated arm, it must be able to drive the articulated arm to move itself; otherwise, it is meaningless. If it is less than that, it is like polio, unable to lift itself. In the Earth's environment, the minimum requirement is that the torque or moment of the drive device can lift the weight of the articulated arm itself.) Legged robots are all like this; the torso and body are connected to the hands or legs and have certain basic functions. They are generally equipped with some batteries or computing devices, but this is not the key point of this invention. Taking the left leg of a quadruped robot as an example, the arm closest to the buttock is the first joint arm. A quadruped robot's leg generally has at least three joint arms. The first joint arm will have a second joint arm, and the second joint arm will have a third joint arm, thus forming three degrees of freedom for a leg. This means that the torque of the motor of the first joint arm must be able to drive itself and the load torque generated by the first and third joint arms. Then, the torque of the motor of the second joint arm must be able to drive itself and the torque of the third joint arm. The torque of the motor of the third joint arm must be able to drive its own torque. Generally speaking, the output shaft of the third joint arm is fixedly connected to the shaft with a dog-leg-shaped arm to form the third joint arm.
[0028] Furthermore, the drive device mainly consists of a drive mechanism that provides feedback on one or two to nine of the following: position, angle, torque, stiffness, angular velocity, damping, or temperature. Equipping sensors is necessary; generally, robots need to acquire this information to determine their current state, thereby making gait adjustments and path planning.
[0029] Furthermore, the drive device mainly consists of one or a combination of two to four or five to six of the following: stepper motor, servo motor, torque motor, servo motor, hydraulic drive device, and pneumatic drive device. It is primarily composed of these types of motors or hydraulic devices. Generally speaking, using electric motors is more cost-effective because we have now entered the electrical age and they are more energy-efficient.
[0030] Furthermore, the input end of the worm gear reducer is mainly fixedly connected to or integrally formed with the output shaft of the drive device. The worm gear reducer mainly consists of a combination of a worm and a worm wheel with a reduction ratio between 1 / 12 and 1 / 128 or between 1 / 128.000000001 and 1 / 500. A reduction ratio less than 1 / 12 is essentially not very useful; this refers to the main reduction ratio. In reality, other types of reduction devices with lower reduction ratios can be connected before or after the worm gear reducer for some primary reduction.
[0031] Furthermore, the helix angle of the worm gear is less than or equal to the friction angle between the worm and the turbine. (This is a necessary condition for the worm gear to self-lock; only with self-locking can it bear a load exceeding the torque of the motor itself.) This is a necessary condition for the worm gear reducer to self-lock; self-locking is required to withstand a greater load.
[0032] A drive control method for the main structure of a legged robot using a worm gear reducer is disclosed. This method primarily involves a host computer collecting one or two to seven key pieces of information from the legged robot, including position, angle, torque, stiffness, angular velocity, damping, and temperature. Based on this information, the robot's motion state is determined. The robot's balance is maintained primarily by the M-N legs (where M is the number of legs, e.g., bipedal, quadrupedal, hexapedal robots). The N legs adjust the gait, where N is less than M, and M-N is greater than or equal to N. This allows the robot to maintain balance without additional energy when at least one leg is at its equilibrium point. The other legs can then simultaneously provide balance and adjust the gait, increasing the robot's endurance and load capacity. The self-locking function of the worm gear reducer allows the robot's articulated arms to withstand greater loads.
[0033] Furthermore, the host computer mainly uses large model methods or motion algorithms to control the robot's movement.
[0034] Furthermore, the host computer mainly consists of radar, sensors, cameras, and computers.
[0035] Furthermore, the radar mainly consists of lidar, millimeter-wave radar, and meter-wave radar.
[0036] Furthermore, the sensor mainly consists of one or a combination of two to eight of the following: a position sensor, an angle sensor, a torque sensor, a force sensor, a stiffness sensor, an angular velocity sensor, a damping sensor, a temperature sensor, or a vibration sensor.
[0037] Furthermore, the camera mainly consists of a depth camera, a 3D camera, and a mobile phone camera.
[0038] Next, let's take a quadruped robot as an example to illustrate the above solution. When a quadruped robot is standing on Earth, it only needs three legs to support the weight of the entire structure. The other leg does not need to bear the weight of the body. Since the three legs use a worm gear reducer, they are in a self-locking state when stationary. The other leg can then adjust its gait, landing forward or backward. Of course, the landing point should ensure that when one of the other three legs is lifted, it will not tip over with the three legs currently in contact with the ground. But that's a topic for later.
[0039] This technology essentially transforms the original articulated arm into a structure that uses the self-locking function of a worm gear reducer to lock its rotation. This self-locking property allows the articulated arm to save a significant amount of power when it is not in motion.
[0040] See Figure 1-6 It can be clearly seen that the articulated arms of the quadruped robot are made using a worm gear reducer. The worm is fixedly connected to the motor, and the worm wheel is fixedly connected to the next articulated arm. This forms the movable articulated arms of the quadruped robot. Generally speaking, a quadruped robot with strong working capacity on the market usually has 12 main articulated arms. With such articulated arms, the quadruped robot can actually use three legs to support its body, and can use one leg to adjust its gait to adjust its movement state. This greatly increases the load capacity of the quadruped robot.
[0041] This increase is based on mechanical strength and the weight of the articulated arm. The mechanical strength of the articulated arm mainly determines the ultimate load of the quadruped robot, while the weight of the articulated arm determines its mechanical strength. Generally speaking, a small motor allows the legs of a quadruped robot to withstand more loads than a robot of the same size.
Claims
1. A main structure of a legged robot using a worm gear reducer, mainly comprising 2, 3, 4, 5 to 12 legs or arms, each leg or arm mainly comprising 2, 3, 4, 5, 6 to 12, 13 to 128 self-locking joint arms, each self-locking joint arm mainly comprising 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 to 512 worm gear reducers and 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 to 512 drive devices, the output end of the drive device being connected to the input end of the worm gear reducer respectively, and the legs or arms of the legged robot are mainly formed by the movable connection of multiple self-locking joint arms.
2. The main structure of a legged robot using a worm gear reducer according to claim 1, characterized in that: The load on the self-locking articulated arm itself and the torque or force generated by other self-locking articulated arms thereon shall not exceed the torque or force of its corresponding drive device.
3. The main structure of a legged robot using a worm gear reducer according to claim 1, characterized in that: The drive device mainly consists of a drive device that provides feedback on one or two to nine of the following: position, angle, torque, moment, stiffness, angular velocity, damping, or temperature.
4. The main structure of a legged robot using a worm gear reducer according to claim 1, characterized in that: The drive device mainly consists of one or a combination of two to four or five to six of the following: stepper motor, servo motor, torque motor, servo motor, hydraulic drive device, and pneumatic drive device.
5. The main structure of a legged robot using a worm gear reducer according to claim 1, characterized in that: The input end of the worm gear reducer is mainly fixedly connected to the output shaft of the drive device or integrally formed. The worm gear reducer is mainly composed of a combination of a worm and a turbine with a reduction ratio between 1 / 12 and 1 / 128 or between 1 / 128.000000001 and 1 / 500.
6. The main structure of a legged robot using a worm gear reducer according to claim 5, characterized in that: The spiral angle of the worm is less than or equal to the friction angle at which the turbine contacts the worm.
7. A drive control method for the main structure of a legged robot using a worm gear reducer, which mainly uses a host computer to collect key information from the legged robot, including one or a combination of two to nine of the following: position, angle, torque, moment, stiffness, angular velocity, damping, or temperature. Then, the robot's motion state is determined based on this information. The robot is then mainly supported by M minus N legs to maintain its balance, and the N legs are mainly used to adjust the gait. N is less than M, and M minus N is greater than or equal to N.
8. A drive control method for the main structure of a legged robot using a worm gear reducer according to claim 7, characterized in that: The host computer mainly uses large model methods or motion algorithms to control the robot's movement.
9. A drive control method for the main structure of a legged robot using a worm gear reducer according to any one of claims 7 or 8, characterized in that: The host computer mainly consists of radar, sensors, cameras, and computers.
10. The driving control method for the main structure of a legged robot using a worm gear reducer according to claim 9, characterized in that: The radar mainly consists of lidar, millimeter-wave radar, and meter-wave radar.
11. The drive control method for the main structure of a legged robot using a worm gear reducer according to claim 9, characterized in that: The sensor is mainly composed of one or a combination of two to eight of the following: position sensor, angle sensor, torque sensor, force sensor, stiffness sensor, angular velocity sensor, damping sensor, temperature sensor, or vibration sensor.
12. The driving control method for the main structure of a legged robot using a worm gear reducer according to claim 9, characterized in that: The camera mainly consists of a depth camera, a 3D camera, and a mobile phone camera.