A kneeless load carrying robot

Abstract

This invention relates to a kneeless, jointless load-bearing robot, comprising a load-bearing seat module, a leg walking module, a front-and-back leg swing module, a left-and-right leg swing module, and a control module. The front-and-back leg swing module includes a fixed part and a rotating part; the left-and-right leg swing module includes a fixed part and a rotating part. The fixed part and the rotating parts are connected by an extension frame, which allows the left-and-right leg swing modules to extend forward or backward relative to the front-and-back leg swing module. A linear telescopic module drives the leg body to move up and down relative to the front-and-back leg swing module; the rotating parts of the front-and-back leg swing module drive the leg body to swing forward and backward; and the rotating parts of the left-and-right leg swing module drive the leg body to swing left and right. This invention simulates human walking through a foot-like structure, enabling forward, backward, left, and right movement. It requires minimal space, is convenient for people with mobility impairments, and reduces the fatigue of other people carrying heavy loads or climbing stairs.

Description

Technical Field

[0001] This invention relates to the field of walking robots, specifically to a kneeless, jointless load-bearing robot. Background Technology

[0002] Some people experience difficulty walking due to age or physical limitations, requiring the use of assistive devices such as canes and wheelchairs, especially in situations involving climbing stairs or navigating steps, where wheelchairs may be unusable. To address this issue, existing technologies offer several walking assistance devices. For example, patent application CN116251011A discloses a walking assistance device for the elderly. This device uses an auxiliary rod to support the elderly person's hands or shoulders, and a control panel is mounted on the rod to control the operation of electrical components. The control panel then activates a walking drive motor to propel four sets of walking feet on either side of the walking mechanism's base in a step-like motion, with the speed of movement synchronized with the elderly person's walking speed. While this device assists users to some extent in walking and navigating stairs, it still fundamentally requires the user to perform the actual stepping movements.

[0003] Existing technologies also include some walking robots that allow users to sit and move around. For example, patent document CN109483565A discloses an intelligent assistive robot for the elderly, which includes a base with a cushion, a walking mechanism installed beneath the base, and a motor, wheel frame, a motor driving the wheel frame, and a rotating shaft connected to the wheels. Three support plates are mounted on the rotating shaft, enabling climbing stairs via the four sets of support plates on the rotating shaft. This design is similar to a four-wheeled wheelchair and requires significant space.

[0004] Existing technology, such as the patent document with publication number CN111839920A, discloses a tracked stair-climbing robot assisted by a gripper. It achieves its walking purpose by setting a track wheel mechanism under the seat mechanism. When turning, the track wheel mechanism needs to precisely adjust the turning angle according to the turning radius, which also has high space requirements, similar to a wheelchair. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a kneeless jointless load-bearing robot. This kneeless jointless load-bearing robot achieves foot-based passage by simulating human walking. Compared to existing wheelchair-type walking aids, it has lower space requirements. Users can sit on it to walk and go up and down stairs, which is convenient for people with mobility impairments and reduces the fatigue of other people who need to carry heavy loads and climb stairs.

[0006] The technical objective of this invention is achieved through the following technical solution: A kneeless, jointless heavy-duty robot includes: The load-bearing seat module is used to provide support for the load. The leg movement module is used to support the seat module and enable walking movement; it includes a leg body, a linear telescopic module installed inside the leg body to drive the leg body to move up and down, and a support foot installed at the lower end of the leg body. The front and rear leg swing module is used to drive the leg walking module to swing forward and backward relative to the supporting seat module; it includes a front and rear leg swing module fixing part and a front and rear leg swing module rotating part, and the front and rear leg swing module rotating part can rotate relative to the front and rear leg swing module fixing part at a target angle; The left and right leg swing module is used to drive the leg walking module to swing left and right relative to the supporting seat module; it includes a left and right leg swing module fixing part and a left and right leg swing module rotating part, and the left and right leg swing module rotating part can rotate relative to the left and right leg swing module fixing part at a target angle; An extension connecting frame is used to connect the front and rear leg module fixing part and the left and right leg module rotating part. The front and rear leg modules are located at the middle position of the seat module in the front and rear direction. The extension connecting frame allows the left and right leg modules to extend forward or backward relative to the front and rear leg modules. The telescopic end of the linear telescopic module is connected to the rotating part of the front and rear swing leg module. When the linear telescopic module telescopically moves, it causes the leg body to move up and down relative to the front and rear swing leg module. The rotating part of the front and rear swing leg module causes the leg body to swing forward and backward relative to the fixed part of the front and rear swing leg module. The left and right leg swing module fixing part is fixedly connected to the load-bearing seat module, and the left and right leg swing module rotating part drives the leg body to swing left and right relative to the left and right leg swing module fixing part; The control module is equipped with a spatial information acquisition module for collecting information about the surrounding environment. The control module controls the operation of the leg walking module, the forward and backward leg swing module, and the left and right leg swing module based on the environmental information data collected by the spatial information acquisition module.

[0007] Furthermore, a tail support mechanism is installed at the back of the carrying seat module to provide support for the carrying seat module when the robot stops walking. When the robot stops walking, the control module controls the tail support mechanism to provide support for the carrying seat module.

[0008] Furthermore, the load-bearing seat module includes a load-bearing support surface, a back support mounted above the load-bearing support surface, and side supports mounted on the left and right sides above the load-bearing support surface and connected to the back support. The side supports are fixedly connected to the left and right sides of the back support, and the center of gravity of the load-bearing support surface is lowered through the back support and the side supports.

[0009] Furthermore, the supporting surface has a hollow ring structure, which makes it convenient for users with mobility impairments to defecate above the toilet stall.

[0010] Furthermore, the tail support mechanism is installed on the back of the back support, the spatial information acquisition module is installed on the front of the support, and the swing mechanism is distributed on the outer side of the side support. When the robot stops walking, the tail support mechanism, together with the leg walking modules on both sides, forms a three-point support for the support seat module.

[0011] Furthermore, the leg body includes an upper thigh body and a lower calf body, with the calf body connected to the lower end of the thigh body and a support foot installed at the lower end of the calf body. Hollow cavities are respectively provided inside the thigh body and the calf body. The power end of the linear telescopic module is fixed in the hollow cavity of the calf body, and the telescopic end of the linear telescopic module extends from the hollow cavity of the calf body into the hollow cavity of the thigh body. A connector is provided in the hollow cavity of the thigh body at the telescopic end, and the connector is connected to the rotating part of the front and rear swing leg module.

[0012] Furthermore, a linear motion guide rail is provided in the hollow cavity of the thigh body along the length of the thigh body. A slider is installed on the side of the rotating part of the front and rear swing leg module corresponding to the linear motion guide rail. The slider slides with the linear motion guide rail. The slider is hinged to the connector. When the linear telescopic module extends or retracts, it drives the slider to move up and down along the linear motion guide rail.

[0013] Furthermore, the lower end of the lower leg body is provided with a bent portion perpendicular to the lower leg body. One end of the bent portion is fixedly connected to the lower end of the lower leg body, and the other end of the bent portion is hinged to the upper end of the support foot. Parallel support foot linear drive mechanisms are installed on the front and rear sides or left and right sides of the lower leg body, and the parallel support foot linear drive mechanisms perform extension and retraction actions respectively. One end of the support foot linear drive mechanism is hinged to the lower leg body, and the other end of the support foot linear drive mechanism is hinged to the upper end of the support foot and the hinge connection position with the bent portion is offset in the left and right direction. The support foot linear drive mechanism drives the support foot to rotate up and down in the left and right direction or up and down in the front and back direction relative to the bent portion.

[0014] Furthermore, the bent part is hinged to the upper end of the support leg using a universal joint bearing, and the linear drive mechanism is hinged to the upper end of the support leg using a rod end spherical bearing.

[0015] Furthermore, one end of the extension connecting frame is fixedly connected to the front and rear swing leg module fixing part, and the other end of the extension connecting frame is provided with a connecting end that is coaxially arranged with the left and right swing leg module rotating part, and the connecting end is fixedly connected to the left and right swing leg module rotating part; the rotation axis of the front and rear swing leg module rotating part intersects perpendicularly with the rotation axis of the left and right swing leg module rotating part.

[0016] Furthermore, a support connecting frame extends forward from the side of the seat module. One end of the support connecting frame is fixedly connected to the seat module, and the other end of the support connecting frame is fixedly connected to the left and right swing leg module fixing parts.

[0017] Furthermore, the tail support mechanism includes a tail support telescopic mechanism, a tail guide rail, and a guide groove that slides with the tail guide rail. The power end of the tail support telescopic mechanism is fixed to the back of the seat module. The telescopic end of the tail support telescopic mechanism is set downward and configured with a support end for supporting the ground. The guide groove is fixed to the back of the seat module and near the lower end. The tail guide rail is arranged parallel to the telescopic movement direction of the tail support telescopic mechanism. The lower end of the tail guide rail is vertically fixed to the upper surface of the support end. When the tail support telescopic mechanism telescopically moves, the telescopic end drives the tail guide rail to move up and down relative to the guide groove.

[0018] Furthermore, an elastic shock-absorbing module is installed at the bottom of the support foot.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The kneeless load-bearing robot of this application adopts a leg walking module design without knee joints, which can realize forward and reverse movement, as well as left and right movement. Compared with wheeled and tracked auxiliary devices, it has a smaller turning radius and reduces the space requirements. By realizing load-bearing walking through the straight-running leg walking module, it can solve the problem of overheating of the knee joint when the knee joint of the traditional robot with knee joint is under load during walking.

[0020] 2. The kneeless jointless load-bearing robot of this application can directly realize the movement of people. Compared with some existing walking aids, users can realize the need to move without taking steps. It can also carry goods, reducing the labor intensity of carrying items up and down stairs.

[0021] 3. This application achieves safer and more stable support for the seat module when the vehicle stops by designing a tail support mechanism.

[0022] 4. This application, through the cooperation of the back support and the side support, forms protection while lowering the center of gravity of the load-bearing support surface, making the whole structure more stable. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the kneeless load-bearing robot structure of the present invention.

[0024] Figure 2 This is a schematic diagram of the leg walking module structure in this invention.

[0025] Figure 3This is a schematic diagram of the connection between the front and rear swing leg module and the extension connecting frame in this invention.

[0026] Figure 4 This is a schematic diagram of the connection between the slider and the front and rear swing leg modules in this invention.

[0027] Figure 5 This is a schematic diagram of the connection between the extension connecting frame and the left and right swing leg modules in this invention.

[0028] Figure 6 This is a schematic diagram showing the connection between the left and right leg swing module and the supporting seat module in this invention.

[0029] Figure 7 This is a schematic diagram of the installation of the tail support mechanism in this invention.

[0030] Figure 8 This is a schematic diagram of the combined use of the kneeless load-bearing robot in an embodiment of the present invention.

[0031] Figure 9 This is another schematic diagram of the connection between the extension connecting frame and the left and right swing leg modules in an embodiment of the present invention.

[0032] Figure 10 This is a schematic diagram of the connection between the lower leg body and the supporting foot in one embodiment of the present invention.

[0033] Figure 11 This is a schematic diagram of a linear drive mechanism for the support foot arranged on the left and right sides of the lower leg body in one embodiment of the present invention.

[0034] In the picture: 1. Seat support module; 2. Leg support module; 3. Forward and backward leg swing module; 4. Left and right leg swing module; 5. Extension connecting frame; 6. Spatial information acquisition module; 7. Rear support mechanism; 101. Load-bearing support surface; 102. Back support; 103. Side support; 104. Support connecting frame; 201. Linear telescopic module; 202. Support leg; 203. Thigh body; 204. Lower leg body; 205. Fixed shaft; 206. Linear drive mechanism for support leg; 207. Linear motion guide rail; 208. Slider; 209. Slider limiting mechanism; 210. Bending part; 211. Connector; 212. Guide through hole; 213. Roller screw motor; 301. Front and rear swing leg module fixing part; 302. Front and rear swing leg module rotating part; 401. Left and right leg swing module fixing part; 402. Left and right leg swing module rotating part; 501. Connecting end; 701. Tail support telescopic mechanism; 702. Tail guide rail; 703. Guide groove; 704. Support end. Detailed Implementation

[0035] The technical solution of the present invention will be further described below with reference to specific embodiments: A kneeless, jointless heavy-duty robot, such as Figures 1 to 7 As shown, it includes: The load-bearing seat module 1 is used to provide support for the load. The leg walking module 2 is used to support the seat module 1 and enable walking movement; the leg walking module 2 includes a leg body, a linear telescopic module 201 installed in the leg body to drive the leg body to move up and down, and a support foot 202 installed at the lower end of the leg body; Preferably, an elastic damping module, such as a rubber buffer pad, can be added to the bottom of the support foot 202 and the support end 704 behind it.

[0036] The front and rear leg swing module 3 is used to drive the leg walking module 2 to swing forward and backward relative to the supporting seat module 1; it includes a front and rear leg swing module fixing part 301 and a front and rear leg swing module rotating part 302. The front and rear leg swing module rotating part 302 can rotate relative to the front and rear leg swing module fixing part 301 at a target angle; for example, the front and rear leg swing module 3 is a swing motor, the front and rear leg swing module fixing part 301 is a housing, and the front and rear leg swing module rotating part 302 is a rotor module.

[0037] The left and right leg swing module 4 is used to drive the leg walking module 2 to swing left and right relative to the supporting seat module 1. The left and right leg swing module 4 includes a left and right leg swing module fixing part 401 and a left and right leg swing module rotating part 402. The left and right leg swing module rotating part 402 can rotate relative to the left and right leg swing module fixing part 401 at a target angle. For example, the left and right leg swing module 4 is a joint motor, or a swing motor can be used. The left and right leg swing module fixing part 401 is a housing, and the left and right leg swing module rotating part 402 is a rotor module.

[0038] It should be noted that the swing motors used in the front and rear swing leg module 3 and the left and right swing leg module 4 in this embodiment are general swing motors (electric motors), and the swing angle is limited and adjusted according to the actual application.

[0039] The extension connecting frame 5 is used to connect the front and rear leg module fixing part 301 and the left and right leg module rotating part 402. The front and rear leg module 3 corresponds to the middle position of the seat module 1 in the front and rear direction. The extension connecting frame 5 allows the left and right leg modules 4 to extend forward or backward relative to the front and rear leg module 3. In an implementation process, such as Figure 1 As shown, the left and right leg swing module 4 extends forward relative to the front and back swing module 3.

[0040] In another implementation process, such as Figure 9 As shown, the left and right leg swing modules 4 are connected to the front and rear leg swing modules 3 via the extension connecting bracket 5, and extend rearward relative to the front and rear leg swing modules 3. The left and right leg swing modules 4 are fixed to the upper end of the supporting seat module 1. Specifically, the left and right leg swing modules 4 can be fixed to the upper end of the side bracket 103.

[0041] The telescopic end of the linear telescopic module 201 is connected to the rotating part 302 of the front and rear swing leg module. When the linear telescopic module 201 telescopically moves, it drives the leg body to move up and down relative to the front and rear swing leg module 3. The rotating part 302 of the front and rear swing leg module drives the leg body to swing forward and backward relative to the fixed part 301 of the front and rear swing leg module. The left and right leg swing module fixing part 401 is fixedly connected to the bearing seat module 1, and the left and right leg swing module rotating part 402 drives the leg body to swing left and right relative to the left and right leg swing module fixing part 401; The control module is equipped with a spatial information acquisition module 6 for collecting information about the surrounding environment. The control module controls the leg walking module 2, the forward and backward leg swing module 3, and the left and right leg swing module 4 to operate based on the environmental information data collected by the spatial information acquisition module 6.

[0042] More specifically, such as Figure 6 As shown, the supporting seat module 1 includes a supporting surface 101, a back support 102 installed above the supporting surface 101, and side supports 103 installed on the left and right sides above the supporting surface 101 and connected to the back support 102. The side supports 103 are fixedly connected to the left and right sides of the back support 102. The back support 102 and the side supports 103 cause the center of gravity of the supporting surface 101 to shift downward. When the supporting surface 101 carries objects or people, the overall center of gravity is lowered relative to the height of the front and rear leg swing modules 3 and the left and right leg swing modules 4.

[0043] In one implementation process, the supporting surface 101 has a hollow ring structure, which makes it convenient for users with mobility impairments to defecate.

[0044] In one implementation process, the spatial information acquisition module 6 is installed on the front side of the bearing support surface 101, and the swing mechanism 3 is correspondingly distributed on the outer side area of ​​the side support 103.

[0045] More specifically, such as Figure 2As shown, the leg body includes an upper thigh body 203 and a lower calf body 204. The calf body 204 extends and connects to the lower end of the thigh body 203, and a support foot 202 is installed at the lower end of the calf body 204. Hollow cavities are respectively provided inside the thigh body 203 and the calf body 204. The power end of the linear telescopic module 201 is fixed in the hollow cavity of the calf body 204. The telescopic end of the linear telescopic module 201 extends from the hollow cavity of the calf body 204 into the hollow cavity of the thigh body 203. A connector 211 is provided in the hollow cavity of the thigh body 203 at the telescopic end, and it is connected to the rotating part 302 of the front-back swing module through the connector 211. For example, the linear telescopic module 201 is a servo electric cylinder or a ball screw motor. Taking a ball screw motor as an example, the power end is the end where the motor is located, and the telescopic end is the end of the ball screw that moves telescopically. The motor outputs power to extend or retract the ball screw end.

[0046] Preferably, a linear motion guide rail 207 is provided in the hollow cavity of the thigh body 203 along the length of the thigh body 203. A slider 208 is installed on the side of the rotating part 302 of the front and rear swing leg module corresponding to the linear motion guide rail 207, and the slider 208 slides with the linear motion guide rail 207. The slider 208 is hinged to the connector 211. When the linear telescopic module 201 extends and retracts, it drives the slider 208 to move up and down along the linear motion guide rail 207, thereby realizing the up and down movement of the leg body relative to the front and rear swing leg module 3, increasing the stability and reliability of the movement. More specifically, two guide holes 212 are provided on the slider 208 corresponding to the two linear motion guide rails 207. The linear motion guide rails 207 pass through the guide holes 212. The linear motion guide rails 207 can be made of smooth rods and slide with the guide holes 212.

[0047] In one specific implementation, the connector 211 is provided with an O-hole, and the slider 208 is provided with a fixed shaft 205 corresponding to the O-hole of the connector 211. The fixed shaft 205 passes through the O-hole of the connector 211 to realize the hinged connection between the connector 211 and the slider 208.

[0048] Preferably, a slider limiting mechanism 209 is also provided in the hollow cavity of the thigh body 203 to limit the excessive movement of the slider. The slider limiting mechanism 209 is located near the lower end of the hollow cavity of the thigh body 203, and the telescopic end gap passes through the slider limiting mechanism 209. The slider 208 is located above the slider limiting mechanism 209. When the linear telescopic module 201 retracts, the slider 208 moves downward and is finally blocked by the slider limiting mechanism 209 to achieve the limiting purpose.

[0049] To ensure the support foot 202 can stably contact the ground upon landing, a bent portion 210 is provided at the lower end of the lower leg body 204, perpendicular to the lower leg body 204 and extending between the two lower leg bodies 204. One end of the bent portion 210 is fixedly connected to the lower end of the lower leg body 204, and the other end of the bent portion 210 is hinged to the upper end of the support foot 202. Parallel support foot linear drive mechanisms 206 are installed on the front and rear sides of the lower leg body 204, respectively. One end of the support foot linear drive mechanism 206 is hinged to the lower leg body 204, and the other end of the support foot linear drive mechanism 206 is hinged to the upper end of the support foot 202 and connected to the bent portion 210. The hinged connections of part 210 are staggered in the left-right direction. In one implementation, the bent part 210 is hinged to the upper end of the support leg 202 near the center, and the linear drive mechanism 206 of the support leg is hinged to the upper end of the support leg 202 near the outer edge. The synchronous extension and retraction of the two linear drive mechanisms 206 allow the support leg 202 to flip up and down relative to the bent part 210 in the left-right direction. When the two linear drive mechanisms 206 move in opposite directions, that is, when one of the parallel linear drive mechanisms 206 extends and the other retracts, the support leg 202 flips up and down relative to the bent part in the front-back direction. For example, the linear drive mechanism 206 of the support leg is a servo electric cylinder or a ball screw motor; the bent part 210 and the upper end of the support leg 202 are hinged using a universal joint bearing, and the linear drive mechanism 206 and the upper end of the support leg 202 are hinged using a rod end bearing.

[0050] In one implementation process, parallel support foot linear drive mechanisms 206 can also be installed on the left and right sides of the lower leg body, such as... Figure 11As shown, a bent portion 210 is provided at the lower end of the lower leg body 204, perpendicular to the lower leg body 204 and extending towards the front or rear of the two lower leg bodies 204. One end of the bent portion 210 is fixedly connected to the lower end of the lower leg body 204, and the other end of the bent portion 210 is hinged to the upper end of the support foot 202. Parallel support foot linear drive mechanisms 206 are respectively installed on the left and right sides of the lower leg body 204. One end of the support foot linear drive mechanism 206 is hinged to the lower leg body 204, and the other end of the support foot linear drive mechanism 206 is hinged to the upper end of the support foot 202, with the hinge connection position to the bent portion 210 offset in the front-back direction. For example, the support foot linear drive mechanism 206 is a servo electric cylinder or a ball screw motor; the bent portion 210 is hinged to the upper end of the support foot 202 using a universal joint bearing, and the linear drive mechanism 206 is hinged to the upper end of the support foot 202 using a rod end joint bearing. The support leg 202 is flipped up and down in the front-back direction relative to the bent part 210 by the synchronous extension and retraction of the linear drive mechanism 206 connected in parallel on the left and right sides; the support leg 202 is flipped up and down in the left and right direction relative to the bent part 210 by one extension and the other retraction of the linear drive mechanism 206 connected in parallel on the left and right sides.

[0051] In one implementation process, to ensure that the support leg 202 can stably adhere to the ground when it lands, the lower end of the lower leg body 204 may not have a bent portion 210, such as... Figure 10 As shown, a ball screw motor 213 is installed in the hollow cavity of the lower leg body 204. One end of the ball screw motor 213 is hinged to the upper part of the central cavity of the lower leg body 204, and the other end is hinged to the upper surface of the support foot 202. The lower end of the lower leg body 204 is also hinged to the upper surface of the support foot 202. Preferably, the lower end of the lower leg body 204 is hinged to the center of the upper end of the support foot 202, and the ball screw motor 213 is hinged to one side of the center of the upper end of the support foot 202. The angle of the support foot 202 is adjusted by extending and retracting the ball screw motor 213.

[0052] Preferably, in an implementation process, such as Figure 1 , Figure 6 and Figure 7 As shown, a tail support mechanism 7 is also installed at the back of the carrying seat module 1 to provide support for the carrying seat module 1 when the robot stops walking. When the robot stops walking, the control module controls the tail support mechanism 7 to support the carrying seat module 1.

[0053] More specifically, the tail support mechanism 7 includes a tail support telescopic mechanism 701, a tail guide rail 702, and a guide groove 703 that slides with the tail guide rail 702. The tail support telescopic mechanism 701 is a servo electric cylinder or a ball screw. The power end of the tail support telescopic mechanism 701 is fixed on the back support 102. The telescopic end of the tail support telescopic mechanism 701 is set downward and configured with a support end 704 for supporting on the ground. The guide groove 703 is fixed near the lower end of the back support 102. The tail guide rail 702 is arranged parallel to the telescopic movement direction of the tail support telescopic mechanism 701. The lower end of the tail guide rail 702 is vertically fixed to the upper surface of the support end 704. When the tail support telescopic mechanism 701 telescopically moves, the telescopic end drives the tail guide rail 702 to move up and down relative to the guide groove 703. When the robot stops walking, the tail support telescopic mechanism 701 extends so that the support end 704 is supported on the ground, which, together with the leg walking modules 2 on both sides, forms a three-point support for the seat module 1.

[0054] More specifically, such as Figure 3 and Figure 4 As shown, one end of the extension connecting frame 5 is fixedly connected to the front and rear swing leg module fixing part 301, and the other end of the extension connecting frame 5 is provided with a connecting end 501 that is coaxially arranged with the left and right swing leg module rotating part 402. The connecting end 501 is circular and is fixedly connected to the left and right swing leg module rotating part 402 by screws. The rotation axis of the front and rear swing leg module rotating part 302 intersects perpendicularly with the rotation axis of the left and right swing leg module rotating part 402.

[0055] When the seat module 1 is connected to the left and right leg swing modules 4, such as Figure 5 and Figure 6 As shown, a support connecting frame 104 extends forward from the side of the seat module 1. One end of the support connecting frame 104 is fixedly connected to the seat module 1. Specifically, the support connecting frame 104 is connected to the upper position of the side bracket 103 and is arranged facing the front of the seat module 1. The other end of the support connecting frame 104 is fixedly connected to the left and right swing leg module fixing part 401.

[0056] To better understand the operation of the robot described in this application, this embodiment describes the operation process: S1. The spatial information acquisition module 6 collects spatial point cloud data around the robot's current position in real time. The spatial point cloud data includes boundary point information of surrounding obstacles and ground unevenness. The spatial information acquisition module transmits the collected spatial point cloud data to the control module in real time.

[0057] S2. The control module generates gait action control signals based on the spatial point cloud data collected by the spatial information acquisition module. The control module sends gait action control signals to the leg walking module, the forward and backward leg swing module, and the left and right leg swing module. For example, after obtaining the spatial point cloud data, it is processed by denoising, downsampling, coordinate transformation, and motion compensation. The ground is segmented by methods such as planar model fitting (PANSAC) and gridded height map. Through feature extraction, obstacles are classified, and different environmental information such as ground and steps are identified.

[0058] S3. After receiving the gait movement control signal, the leg walking module, the forward and backward leg swing module, and the left and right leg swing module: The linear telescopic module of the leg walking module on one side retracts, while the forward and backward leg swinging module operates, causing the retracted leg walking module to swing forward until it reaches the target angle; the linear telescopic module extends, while the left and right leg swinging modules on the same side operate, causing the leg walking module to swing inward until the left and right leg swinging modules swing to the target angle and the linear telescopic module extends until the supporting foot lands. On the other side, the linear telescopic module of the leg walking module retracts, while the forward and backward leg swinging module operates, causing the retracted linear telescopic module of the leg walking module to swing forward until it reaches the target angle; the linear telescopic module extends, while the left and right leg swinging modules on the same side operate, causing the leg walking module to swing inward until the left and right leg swinging modules swing to the target angle and the linear telescopic module extends until the supporting foot lands.

[0059] S4. Repeat step S3 above, with the leg walking module running alternately to achieve forward walking.

[0060] In one implementation process, lower limb adaptive motion control can also be achieved through reinforcement learning. During reinforcement learning, the height of the support surface of the seat module, the tilt limit of the support surface, the leg lift height of the leg walking module, and the distance between the two supporting feet (to prevent them from tripping each other) are set. By simulating environments with different step heights, ground friction, random disturbance thrust, and center of gravity changes, the robot collects surrounding spatial point cloud data. Combined with the position, speed, and torque (estimated values) information of all its motors, the control module sends (position, speed, torque, Kp, Kd) signals to each motor by adjusting control parameters, thus achieving an optimal walking gait artificial neural network. During actual walking, the spatial information acquisition module 6 collects spatial point cloud data around the robot's current position and inputs it into the trained artificial neural network. Combined with the position, speed, and torque information of all motors, the optimal walking gait is generated, and the corresponding position, speed, torque, Kp, and Kd signals are sent to the corresponding motors. By adjusting the parameters, the motors are activated, thereby achieving walking control.

[0061] For example, the spatial information acquisition module 6, such as a lidar or an omnidirectional depth camera, collects 360° depth point cloud data to calculate the height (depth) and step span of the high area (the next step) or low area (the next step) ahead. When a step of a certain height is detected, the module initiates the corresponding steps. During walking, it mainly calculates whether the support surface of the seat module is level and whether it is tilted by using information from various motors. Through an artificial neural network after reinforcement learning, it calculates the next gait to correct the tilt and prevents the vehicle from tipping over during walking.

[0062] In one implementation, the kneeless load-bearing robots from the two embodiments described above can also be used in combination, such as... Figure 8 As shown, the tail support mechanism 7 is no longer required during use. Two kneeless load-bearing robots can be placed back to back, and the back supports can be fixedly connected by clamps, bolts, etc. to form a load-bearing robot with four leg walking modules 2.

[0063] This embodiment is merely a further explanation of the present invention and is not intended to limit the present invention. Those skilled in the art can make non-inventive modifications to this embodiment as needed after reading this specification, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A kneeless, jointless load-bearing robot, characterized in that, include: The load-bearing seat module is used to provide support for the load. The leg movement module is used to support the seat module and enable walking movement; it includes a leg body, a linear telescopic module installed inside the leg body to drive the leg body to move up and down, and a support foot installed at the lower end of the leg body. The front and rear leg swing module is used to drive the leg walking module to swing forward and backward relative to the supporting seat module; it includes a front and rear leg swing module fixing part and a front and rear leg swing module rotating part, wherein the front and rear leg swing module rotating part can rotate relative to the front and rear leg swing module fixing part at a target angle; The left and right leg swing module is used to drive the leg walking module to swing left and right relative to the supporting seat module; it includes a left and right leg swing module fixing part and a left and right leg swing module rotating part, wherein the left and right leg swing module rotating part can rotate relative to the left and right leg swing module fixing part at a target angle; An extension connecting frame is used to connect the front and rear leg module fixing part and the left and right leg module rotating part. The front and rear leg modules correspond to the middle position of the seat module in the front and rear direction. The extension connecting frame allows the left and right leg modules to extend forward or backward relative to the front and rear leg modules. The telescopic end of the linear telescopic module is connected to the rotating part of the front and rear leg swing module. When the linear telescopic module telescopically moves, it drives the leg body to move up and down relative to the front and rear leg swing module. The rotating part of the front and rear leg swing module drives the leg body to swing forward and backward relative to the fixed part of the front and rear leg swing module. The left and right leg swing module fixing part is fixedly connected to the supporting seat module, and the left and right leg swing module rotating part drives the leg body to swing left and right relative to the left and right leg swing module fixing part; The control module is equipped with a spatial information acquisition module for collecting surrounding environmental information. The control module controls the operation of the leg walking module, the forward and backward leg swing module, and the left and right leg swing module based on the environmental information data collected by the spatial information acquisition module.

2. The kneeless jointless load-bearing robot according to claim 1, characterized in that, The rear of the carrying seat module is also equipped with a tail support mechanism for providing support to the carrying seat module when the robot stops walking. When the robot stops walking, the control module controls the tail support mechanism to provide support to the carrying seat module.

3. The kneeless jointless load-bearing robot according to claim 2, characterized in that, The load-bearing seat module includes a load-bearing support surface, a back support mounted on the back of the load-bearing support surface, and side supports mounted on the left and right sides of the load-bearing support surface. The side supports are fixedly connected to the left and right sides of the back support, and the center of gravity of the load-bearing support surface is lowered by the back support and the side supports.

4. The kneeless jointless load-bearing robot according to claim 3, characterized in that, The supporting surface has a circular structure with a hollow center.

5. A kneeless load-bearing robot according to claim 3, characterized in that, The tail support mechanism is installed on the back of the back support, the spatial information acquisition module is installed on the front of the support, and the swing mechanism is distributed on the outer side of the side support. When the robot stops walking, the tail support mechanism, together with the leg walking modules on both sides, forms a three-point support for the support seat module.

6. A kneeless load-bearing robot according to claim 1, characterized in that, The leg body includes an upper thigh body and a lower calf body. The calf body is connected to the lower end of the thigh body, and the support foot is installed at the lower end of the calf body. Hollow cavities are respectively provided inside the thigh body and the calf body. The power end of the linear telescopic module is fixed in the hollow cavity of the calf body, and the telescopic end of the linear telescopic module extends from the hollow cavity of the calf body into the hollow cavity of the thigh body. A connector is provided in the hollow cavity of the thigh body at the telescopic end, and the connector is connected to the rotating part of the front and rear swing leg module.

7. A kneeless load-bearing robot according to claim 6, characterized in that, A linear motion guide rail is provided in the hollow cavity of the thigh body along the length of the thigh body. A slider is installed on the side of the rotating part of the front and rear swing leg module corresponding to the linear motion guide rail. The slider slides with the linear motion guide rail. The slider is hinged to the connector. When the linear telescopic module extends or retracts, it drives the slider to move up and down along the linear motion guide rail.

8. A kneeless load-bearing robot according to claim 6, characterized in that, The lower end of the lower leg body is provided with a bent portion perpendicular to the lower leg body. One end of the bent portion is fixedly connected to the lower end of the lower leg body, and the other end of the bent portion is hinged to the upper end of the support foot. Parallel support foot linear drive mechanisms are respectively installed on the front and rear sides or left and right sides of the lower leg body. The parallel support foot linear drive mechanisms perform extension and retraction actions respectively. One end of the support foot linear drive mechanism is hinged to the lower leg body, and the other end of the support foot linear drive mechanism is hinged to the upper end of the support foot and the hinge connection position with the bent portion is offset in the left and right direction. The support foot linear drive mechanism drives the support foot to rotate up and down in the left and right direction or up and down in the front and back direction relative to the bent portion.

9. A kneeless load-bearing robot according to claim 8, characterized in that, The bent part is hinged to the upper end of the support leg using a universal joint bearing, and the linear drive mechanism is hinged to the upper end of the support leg using a rod end spherical bearing.

10. A kneeless load-bearing robot according to claim 1, characterized in that, One end of the extension connecting frame is fixedly connected to the front and rear swing leg module fixing part, and the other end of the extension connecting frame is provided with a connecting end that is coaxially arranged with the left and right swing leg module rotating part. The connecting end is fixedly connected to the left and right swing leg module rotating part. The rotation axis of the front and rear swing leg module rotating part intersects perpendicularly with the rotation axis of the left and right swing leg module rotating part.

11. A kneeless load-bearing robot according to claim 1, characterized in that, The side of the seat module extends forward with a support connecting frame. One end of the support connecting frame is fixedly connected to the seat module, and the other end of the support connecting frame is fixedly connected to the left and right swing leg module fixing part.

12. A kneeless load-bearing robot according to claim 2, characterized in that, The tail support mechanism includes a tail support telescopic mechanism, a tail guide rail, and a guide groove that slides with the tail guide rail. The power end of the tail support telescopic mechanism is fixed to the back of the seat module. The telescopic end of the tail support telescopic mechanism is downward and configured to support the ground. The guide groove is fixed to the back of the seat module and near its lower end. The tail guide rail is arranged parallel to the telescopic movement direction of the tail support telescopic mechanism. The lower end of the tail guide rail is vertically fixed to the upper surface of the support end. When the tail support telescopic mechanism telescopically moves, the telescopic end drives the tail guide rail to move up and down relative to the guide groove.

13. A kneeless load-bearing robot according to claim 1, characterized in that, An elastic shock-absorbing module is provided at the bottom of the support foot.

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