Kung Fu robot

Abstract

This invention discloses a kung fu robot, belonging to the field of robotics technology. The robot aims to solve the technical problems of existing kung fu robots, such as limited joint freedom in the arms, resulting in a single punching path and a narrow blocking range. The kung fu robot includes an arm assembly, a waist assembly, and a leg assembly. The arm assembly is symmetrically arranged on both sides of the chest and consists of at least five servo motors connected in series. The first to third servo motors form the upper arm, and the fourth and fifth servo motors form the forearm. Each servo motor is independently controlled by a main control board inside the chest, achieving multi-degree-of-freedom shoulder and arm movements. The waist assembly has a sixth servo motor that drives chest rotation, and the leg assembly achieves bending movements through servo motors. This invention, through a multi-servo motor collaborative design, significantly improves the flexibility and diversity of arm movements, enabling the robot to smoothly simulate the force exertion process and complex offensive and defensive postures of real martial arts, enhancing its expressiveness and practicality.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, and in particular relates to a kung fu robot. Background Technology

[0002] Kungfu robots are intelligent service robots that integrate bionics, robotics, and martial arts motion planning. They typically use multi-jointed mechanical structures, high-precision sensors, and motion control algorithms to imitate and reproduce specific moves and routines from human martial arts. They have wide applications in cultural performances and entertainment, education and sports training, and service and interactive experiences.

[0003] Although kung fu robots have been widely used in the aforementioned fields, their technological implementation still has many shortcomings. First, the current kung fu robot arm joints have low degrees of freedom. In simulated combat scenarios, the kung fu robot needs to adjust its attack angle and defensive posture according to the real-time environment. The low degree of freedom of the current arm joints results in a single punching path and a narrow blocking range, making it difficult to effectively achieve a good defensive posture, thus weakening the robot's adaptability and tactical versatility. Second, the movements of kung fu robots emphasize the transmission of kinetic energy through a continuous chain. The current robot arm joints often have insufficient degrees of freedom, resulting in discontinuous torque transmission paths, making it difficult to simulate the force exertion process of a real person. This not only affects the aesthetics of the movements but may also reduce the lifespan of the joints due to excessive local load.

[0004] Therefore, this application provides a kung fu robot designed to solve the above-mentioned problems. Summary of the Invention

[0005] In view of this, the present invention provides a kung fu robot to solve the technical problem of low degree of freedom of the arm joints in existing kung fu robots.

[0006] The technical solution adopted in this invention is as follows: This invention provides a kung fu robot comprising: an arm assembly, a waist assembly, and a chest and leg assembly. The arm assembly is disposed opposite to each other on the left and right sides of the chest, the waist assembly is disposed below the chest, and the leg assembly is disposed below the waist assembly. A main control board is disposed inside the chest. The arm assembly includes at least five servo motors, namely a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, and a fifth servo motor, which are connected to each other via connectors. The first, second, and third servo motors form the robot's upper arm, and the fourth and fifth servo motors form the robot's forearm. The first, second, third, fourth, and fifth servo motors are all electrically connected to the main control board and are individually controlled by the main control board to achieve multi-degree-of-freedom shoulder and arm movements.

[0007] Preferably, the first servo is provided with a fixing block, and the first servo is connected to the chest through the fixing block. The connecting member includes a first connecting member and a second connecting member. The second servo is connected to the first servo through the first connecting member, and one end of the first connecting member is synchronously rotatably connected to the output shaft of the first servo, and the other end is connected to the output shaft of the second servo. The third servo is connected to the second servo through the second connecting member.

[0008] Preferably, the connector further includes a third connector and a fourth connector, the third servo and the fourth servo are connected to each other through the third connector, one end of the third connector is synchronously rotatably connected to the output shaft of the third servo, and the other end is connected to the output shaft of the fourth servo, and the fifth servo and the fourth servo are connected to each other through the fourth connector.

[0009] Preferably, the waist assembly includes a waist component body, a sixth servo motor, and a chest connecting plate. The waist component body has a connecting cavity, and a chest fixing part is provided in the vertical direction of the connecting cavity. The chest fixing part has a connecting hole. The sixth servo motor is fixed in the connecting cavity, and the output shaft of the sixth servo motor passes through the connecting hole. The chest connecting plate is synchronously rotatably connected to the output shaft of the sixth servo motor. The chest is connected to the waist component body through the chest connecting plate, and the rotation of the sixth servo motor can synchronously drive the chest to rotate.

[0010] Preferably, the chest connecting plate and the sixth servo are located on the upper and lower sides of the chest fixing part in the vertical direction, respectively. A mounting plate is provided at one end of the connecting cavity near the chest connecting plate for fixing the sixth servo. A first threaded hole is provided on the chest fixing part. The mounting plate is fixed to the end of the chest fixing part away from the chest connecting plate through the first threaded hole. The sixth servo is connected to the waist component body through the mounting plate.

[0011] Preferably, the leg assembly includes an upper leg assembly, a lower leg assembly, and a connecting frame. The upper leg assembly and the lower leg assembly are connected by the connecting frame. The upper leg assembly has an upper leg connecting seat at the end away from the connecting frame. The leg assembly is connected to the waist assembly through the upper leg connecting seat. The lower leg assembly has a lower leg connecting seat at the end away from the connecting frame. The lower leg connecting seat has a foot assembly.

[0012] Preferably, the upper leg assembly includes an upper leg servo, an upper leg drive arm, and an upper leg connector. The upper leg drive arm is mounted on the output shaft of the upper leg servo. One end of the upper leg connector is located at the end of the upper leg drive arm away from the upper leg servo, and the other end is connected to the upper leg connector seat. The drive of the upper leg servo can synchronously drive the upper leg connector arm to rotate, thereby realizing the bending or straightening of the upper leg assembly. The lower leg assembly includes a lower leg servo, a lower leg drive arm, and a lower leg connector. The lower leg drive arm is mounted on the output shaft of the lower leg servo. One end of the lower leg connector is located at the end of the lower leg drive arm away from the lower leg servo, and the other end is connected to the lower leg connector seat. The drive of the lower leg servo can synchronously drive the lower leg connector arm to rotate, thereby realizing the bending or straightening of the lower leg assembly. Both the upper leg servo and the lower leg servo are electrically connected to the main control board.

[0013] Preferably, the foot assembly includes a caster bracket, a drive wheel, and a Mecanum wheel. The caster bracket has a mounting groove, and the lower leg connector of the leg assembly is disposed in the mounting groove of the caster bracket to realize the connection between the foot assembly and the leg assembly. A drive motor is synchronously connected to the drive wheel for driving the drive wheel.

[0014] Preferably, the kung fu robot further includes a head, a battery compartment, and hands. The head is located above the chest. The battery compartment is fixedly located at the rear end of the waist component body. The battery compartment body contains a battery assembly for powering the servo motor and the main control board. The hands are located on the output shaft of the fifth servo motor.

[0015] Preferably, the battery assembly includes a battery body, a battery compartment cover, and a buckle. The battery body is fixedly connected to the battery compartment cover, and the buckle is disposed opposite to each other on both sides of the battery compartment cover. The battery body is provided with a plug, and the battery compartment is provided with a plug interface that mates with the plug. The battery body is inserted into the battery compartment through the buckle, and the plug is inserted into the plug interface.

[0016] In summary, the beneficial effects of this application are as follows: Compared with existing technologies, this application provides a kung fu robot comprising: an arm assembly, a waist assembly, and a chest and leg assembly. The arm assembly is disposed opposite to each other on the left and right sides of the chest, the waist assembly is disposed below the chest, and the leg assembly is disposed below the waist assembly. A main control board is disposed within the chest. The arm assembly includes at least five servo motors, namely a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, and a fifth servo motor, which are connected to each other via connectors. The first, second, and third servo motors form the robot's upper arm, and the fourth and fifth servo motors form the robot's forearm. The first, second, third, fourth, and fifth servo motors are all electrically connected to the main control board and are individually controlled by the main control board to achieve multi-degree-of-freedom shoulder and arm movements. By employing a five-level servo motor to form the arm assembly, and coordinating with the chest, waist, and leg assemblies, multi-degree-of-freedom coordinated shoulder and arm movements are achieved. The upper arm consists of three servo mechanisms, and the forearm consists of two servo mechanisms. Each servo is connected in series via connectors and independently controlled by the main control board, effectively improving the freedom of movement and flexibility of the arm joints. This design effectively solves the problems of limited joint freedom in existing kung fu robots, such as single punching paths, narrow blocking range, and discontinuous torque transmission. It enables the robot to more smoothly simulate the force generation process and multi-angle offensive and defensive postures in real martial arts movements, enhancing the aesthetics of the movements, tactical diversity, and reasonable distribution of joint load, thereby improving the robot's overall motion performance. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, and these are all within the protection scope of this application.

[0018] Figure 1 This is a three-dimensional structural diagram of the Kung Fu robot in one embodiment of the present invention; Figure 2 This is a three-dimensional structural diagram of the Kung Fu robot in another embodiment of the present invention; Figure 3 This is an exploded view of the Kung Fu robot in one embodiment of the present invention; Figure 4 This is a three-dimensional structural diagram of the arm assembly in one embodiment of the present invention; Figure 5 This is a three-dimensional structural diagram of the arm assembly in another embodiment of the present invention; Figure 6 This is a three-dimensional structural diagram of the waist component in one embodiment of the present invention; Figure 7This is a three-dimensional structural diagram of the leg component in one embodiment of the present invention; Figure 8 This is a three-dimensional structural diagram of the chest in one embodiment of the present invention; Figure 9 This is a three-dimensional structural diagram of the foot component in one embodiment of the present invention; Figure 10 This is an exploded view of the foot assembly in one embodiment of the present invention; Figure 11 This is a three-dimensional structural diagram of the battery compartment in one embodiment of the present invention; Figure 12 This is a three-dimensional structural diagram of a battery according to one embodiment of the present invention.

[0019] The components and their numbers shown in the picture: 10. Arm assembly; 11. First servo; 111. Mounting block; 1111. Guide post; 1112. First mounting hole; 12. Second servo; 121. First connector; 122. First junction box; 13. Third servo; 131. Second connector; 14. Fourth servo; 141. Third connector; 142. Second junction box; 15. Fifth servo; 151. Fourth connector; 20. Waist assembly; 21. Connecting cavity; 211 21. Second threaded hole; 22. Chest fixing part; 221. Connecting hole; 222. First threaded hole; 23. Sixth servo motor; 24. Chest connecting plate; 25. Mounting plate; 26. Connecting part; 261. Fixing post; 27. Heat dissipation hole; 30. Leg assembly; 31. Upper leg assembly; 311. Upper leg connector; 312. Upper leg servo motor; 3121. First wire; 313. Upper leg drive arm; 314. Upper leg transmission arm; 315. Upper leg connecting seat; 32. Lower leg assembly; 321. Lower leg connector; 322. Lower leg servo; 3221. Second power cable; 323. Lower leg drive arm; 324. Lower leg transmission arm; 325. Lower leg connector; 33. Connecting frame; 40. Foot assembly; 41. Caster bracket; 411. Mounting slot; 412. Foot connecting plate; 413. Fixed shaft mounting hole; 42. Mecanum wheel; 421. Bearing mounting hole; 43. Drive wheel; 44. Bearing; 45. Fixed shaft; 46, nut; 50, chest; 51, extension section; 511, first mounting cavity; 52, mounting port; 60, head; 70, battery compartment body; 71, battery compartment body; 72, head connector; 73, servo connector; 74, second fixing hole; 80, hand; 90; battery assembly; 91, battery body; 911, plug; 92, battery compartment cover; 93, buckle; 931, clip; 932, guide head; 933, pressing head. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements, but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, the element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. Where there is no conflict, embodiments of the present invention and the various features thereof can be combined with each other, all of which are within the scope of protection of the present invention.

[0021] Please see Figures 1-12 This invention provides a kung fu robot, comprising: an arm assembly 10, a waist assembly 20, a chest 50, and a leg assembly 30. The arm assembly 10 is disposed opposite to the left and right sides of the chest 50, the waist assembly 20 is disposed below the chest 50, and the leg assembly 30 is disposed below the waist assembly 20. A main control board is provided inside the chest 50. The arm assembly 10 includes at least five servo motors, namely a first servo motor 11, a second servo motor 12, a third servo motor 13, a fourth servo motor 14, and a fifth servo motor 15, which are connected to each other by connectors. The first servo motor 11, the second servo motor 12, and the third servo motor 13 constitute the robot's upper arm, and the fourth servo motor 14 and the fifth servo motor 15 constitute the robot's forearm. The first servo motor 11, the second servo motor 12, the third servo motor 13, the fourth servo motor 14, and the fifth servo motor 15 are all electrically connected to the main control board and are individually controlled by the main control board to achieve multi-degree-of-freedom shoulder and arm movements.

[0022] In this embodiment, a five-stage servo mechanism is used to form the arm assembly 10, which, in conjunction with the chest assembly 50, waist assembly 20, and leg assembly 30, achieves multi-degree-of-freedom shoulder-arm coordinated movement. The upper arm consists of three servo mechanisms, and the forearm consists of two. Each servo is connected in series via connectors and independently controlled by the main control board, effectively improving the freedom and flexibility of the arm joints. This design effectively solves the problems of low joint freedom in existing kung fu robots, such as a single punching path, narrow blocking range, and discontinuous torque transmission. It allows the robot to more smoothly simulate the force application process and multi-angle offensive and defensive postures in real martial arts movements, enhancing the aesthetics of the movements, tactical diversity, and the reasonable distribution of joint load, thereby improving the robot's overall motion performance.

[0023] In the above embodiment, the chest 50 is symmetrically provided with extension sections 51 on its left and right sides. Each extension section 51 has a semi-circular cylindrical structure, with its arc-shaped end located on the front of the chest 50 and its flat end located on the back of the chest 50. A first mounting cavity 511 is formed on the flat end along the axis of the cylinder, and the mounting cavity is used to install the arm assembly 10. The end of the chest 50 away from the extension section 51 is rotatably connected to the waist assembly 20, thereby enabling relative rotation between the waist assembly 20 and the chest 50.

[0024] Please see Figures 1-12 In one embodiment, the first servo motor 11 is provided with a fixing block 111, and the first servo motor 11 is connected to the chest 50 through the fixing block 111. The connecting member includes a first connecting member 121 and a second connecting member 131. The second servo motor 12 is connected to the first servo motor 11 through the first connecting member 121, and one end of the first connecting member 121 is synchronously rotatably connected to the output shaft of the first servo motor 11, and the other end is connected to the output shaft of the second servo motor 12. The third servo motor 13 is connected to the second servo motor 12 through the second connecting member 131.

[0025] In this embodiment, the fixing block 111 has a semi-circular cylindrical structure that mates with the extension section 51. A second mounting cavity is formed on the planar end of the fixing block 111 along the axial direction, and a first servo mounting plate is provided at one end along the axial direction. The first servo mounting plate is integrally formed with the fixing block 111. The end of the first servo 11 away from the drive shaft is fixed to the fixing block 111 via the first servo mounting plate. Half of the sidewall of the first servo 11 is placed inside the second mounting cavity. Symmetrical guide posts 1111 and first fixing holes 1112 are formed on both sides of the second mounting cavity on the planar end of the fixing block 111. The planar end of the extension section 51 has guide posts 1111 and first fixing holes 1112 that mate with the guide posts 1111 and first fixing holes 1112. The hole and the fixing block connection hole are provided. The side wall of the remaining part of the first servo motor 11 is placed in the first mounting cavity 511. The flat end of the fixing block 111 abuts against the flat end on the extension section 51, and the guide post 1111 is placed in the guide hole. After the first fixing hole 1112 is engaged with the fixing block connection hole on the extension section 51, the fixing block 111 and the extension section 51 of the chest 50 are connected and fixed by bolts, thereby realizing the fixed connection between the arm assembly 10 and the chest 50. The guide post 1111 and the guide groove can be set to better install. By abutting the flat end of the fixing block 111 against the flat section of the extension section 51, the surface-to-surface contact is realized, which can increase the stability of the connection and improve the safety of the Kungfu robot during the activity.

[0026] In the above embodiment, the first connector 121 has an L-shaped structure, with one end connected to the output shaft of the first servo motor 11 and the other end connected to the output shaft of the second servo motor 12. The rotation of the first servo motor 11 can synchronously drive the rotation of the remaining four servos on the arm assembly 10. The second connector 131 includes a first vertical section, a horizontal section, and a second vertical section. The first vertical section is synchronously connected to the output shaft of the second servo motor 12. The second vertical section is provided with a first junction box 122 for electrical wiring between the second servo motor 12 and the third servo motor 13 and the main control board. The wire between the first servo motor 11 and the main control board is connected to the main control board through an extension section 51. The horizontal section is connected to the end of the third servo motor 13 away from the output shaft. The drive of the second servo motor 12 can synchronously drive the third servo motor 13, the fourth servo motor 14, and the fifth servo motor 15 to rotate.

[0027] Please see Figures 1-12 In one embodiment, the connector further includes a third connector 141 and a fourth connector 151. The third servo motor 13 and the fourth servo motor 14 are connected to each other through the third connector 141. One end of the third connector 141 is synchronously rotatably connected to the output shaft of the third servo motor 13, and the other end is connected to the output shaft of the fourth servo motor 14. The fifth servo motor 15 and the fourth servo motor 14 are connected to each other through the fourth connector 151.

[0028] In this embodiment, the structure of the third connector 141 is the same as that of the first connector 121, and the structure of the fourth connector 151 is the same as that of the second connector 131. One end of the third connector 141 is synchronously rotatably connected to the output shaft of the third servo 13, and the other end is synchronously rotatably connected to the output shaft of the fourth servo 14. The rotation of the third servo 13 can synchronously drive the fourth servo 14 and the fifth servo 15 to rotate. The first vertical section of the fourth connector 151 is synchronously rotatably connected to the output shaft of the fourth servo 14, and the horizontal section is fixed to the end of the fifth servo 15 away from the output shaft. The second vertical section is provided with a second junction box 142 for realizing electrical wiring between the fourth servo 14 and the fifth servo 15 and the main control board. The rotation of the fourth servo 14 can synchronously drive the fifth servo 15 to rotate.

[0029] In the above embodiment, the first servo motor 11, the first connector 121 and the second servo motor 12 form the robot's shoulder joint. The rotation of the first servo motor 11 realizes the robot's forward and backward arm swinging action, and the rotation of the second servo motor 12 realizes the robot's left and right arm swinging action. The third servo motor 13, the third connector 141 and the fourth servo motor 14 form the robot's elbow joint. The rotation of the third servo motor 13 realizes the rotation of the robot's forearm, and the rotation of the fourth servo motor 14 realizes the bending or straightening action between the robot's forearm and upper arm.

[0030] Please see Figures 1-12 In one embodiment, the waist component 20 includes a waist component body, a sixth servo motor 23, and a chest connecting plate 24. The waist component body has a connecting cavity 21, and a chest fixing part 22 is provided in the vertical direction of the connecting cavity 21. The chest fixing part 22 has a connecting hole 221. The sixth servo motor 23 is fixed in the connecting cavity 21, and the output shaft of the sixth servo motor 23 passes through the connecting hole 221. The chest connecting plate 24 is synchronously rotatably connected to the output shaft of the sixth servo motor 23. The chest 50 is connected to the waist component body through the chest connecting plate 24, and the rotation of the sixth servo motor 23 can synchronously drive the chest 50 to rotate.

[0031] In this embodiment, the sixth servo motor 23 is located at the center of the waist component body. The chest connecting plate 24 has an L-shaped structure, and its horizontal part is synchronously rotatably connected to the output shaft of the sixth servo motor 23. The rotation of the sixth servo motor 23 can synchronously drive the chest connecting plate 24 to rotate. The end face of the vertical part of the chest connecting plate 24 is provided with a chest mounting hole. The chest 50 is fixed to the chest connecting plate 24 through the chest mounting hole. Since the chest 50 is fixedly connected to the chest connecting plate 24, and the chest connecting plate 24 is synchronously rotatably connected to the output shaft of the sixth servo motor 23, the drive of the sixth servo motor 23 realizes the relative rotation between the chest 50 and the waist component body. Since the shoulder assembly is connected to the chest 50, when the chest 50 rotates relative to the waist component body under the drive of the sixth servo motor 23, it synchronously drives the two shoulder assemblies to rotate.

[0032] Please see Figures 1-12 In one embodiment, the chest connecting plate 24 and the sixth servo motor 23 are located on the upper and lower sides of the chest fixing part 22 in the vertical direction, respectively. A mounting plate 25 is provided in the connecting cavity 21 near the end of the chest connecting plate 24 for fixing the sixth servo motor 23. A first threaded hole 222 is provided on the chest fixing part 22. The mounting plate 25 is fixed to the end of the chest fixing part 22 away from the chest connecting plate 24 through the first threaded hole 222. The sixth servo motor 23 is connected to the waist component body through the mounting plate 25.

[0033] In this embodiment, a plurality of first threaded holes 222 are arranged in a circular array around the axis of the connecting hole 221. A through hole is provided on the mounting plate 25 to mate with the first thread. After the through hole mates with the first threaded holes 222, the mounting plate 25 is fixed to the waist component body by bolts. The waist component body is provided with a connecting cavity end cap and a second threaded hole 211. The connecting cavity end cap is fixed to the waist component body through the second threaded hole 211. A heat dissipation hole 27 is also provided on the side wall of the connecting cavity 21 at the end away from the connecting cavity end cap. The heat dissipation hole 27 is used to exchange the heat generated by the sixth servo motor 23 inside the connecting cavity 21 with the external environment, thereby reducing the temperature inside the connecting cavity 21 and improving the service life of the sixth servo motor 23.

[0034] Please see Figures 1-12 In one embodiment, the leg assembly 30 includes an upper leg assembly 31, a lower leg assembly 32, and a connecting frame 33. The upper leg assembly 31 and the lower leg assembly 32 are connected by the connecting frame 33. The upper leg assembly 31 is provided with an upper leg connecting seat 315 at one end away from the connecting frame 33. The leg assembly 30 is connected to the waist assembly 20 through the upper leg connecting seat 315. The lower leg assembly 32 is provided with a lower leg connecting seat 325 at one end away from the connecting frame 33. A foot assembly is provided on the lower leg connecting seat 325.

[0035] In this embodiment, the leg assembly 30 is arranged opposite to the left and right ends below the waist assembly 20. The connecting cavity 21 of the waist component body is provided with a connecting part 26. The connecting part 26 is located at one end of the connecting cavity 21 away from the chest connecting plate 24. The connecting part 26 is provided with a fixing post 261. The upper leg connecting seat 315 is fixed in the connecting cavity 21 of the waist component body by the fixing post 261.

[0036] Please see Figures 1-12 In one embodiment, the upper leg assembly 31 includes an upper leg servo motor 312, an upper leg drive arm 313, and an upper leg connector 311. The upper leg drive arm 313 is mounted on the output shaft of the upper leg servo motor 312. One end of the upper leg connector 311 is located at the end of the upper leg drive arm 313 away from the upper leg servo motor 312, and the other end is connected to the upper leg connecting seat 315. The drive of the upper leg servo motor 312 can synchronously drive the upper leg connecting arm to rotate, thereby realizing the bending or straightening of the upper leg assembly 31. The lower leg assembly 32 includes a lower leg servo motor 312. The system includes a leg servo motor 322, a lower leg drive arm 323, and a lower leg connector 321. The lower leg drive arm 323 is mounted on the output shaft of the lower leg servo motor 322. One end of the lower leg connector 321 is located at the end of the lower leg drive arm 323 away from the lower leg servo motor 322, and the other end is connected to the lower leg connecting seat 325. The drive of the lower leg servo motor 322 can synchronously drive the lower leg connecting arm to rotate, thereby realizing the bending or straightening of the lower leg assembly 32. The upper leg servo motor 312 and the lower leg servo motor 322 are both electrically connected to the main control board.

[0037] In this embodiment, the upper leg servo motor 312 and the lower leg servo motor 322 are electrically connected to a first wire 3121 and a second wire 3221, respectively. One end of the first wire 3121 and the second wire 3221 are connected to the upper leg servo motor 312 and the lower leg servo motor 322, respectively, and the other end of each is connected to the main control board wire. The connecting frame 33 is arranged opposite to both ends of the upper leg servo 312 and the lower leg servo 322, and the connecting frame 33 at the same end connects to the same end of the upper leg servo 312 and the lower leg servo 322. A shaft hole is provided on the connecting frame 33 located on one side of the upper leg servo 312 and the lower leg servo 322 for the output shafts of the upper leg servo 312 and the lower leg servo 322 to pass through. The output shafts of the upper leg servo 312 and the lower leg servo 322 pass through the shaft hole. A first support shaft and a second support shaft are provided on the end face of the other connecting frame 33 away from the output shaft. The first support shaft and the second support shaft are arranged opposite to each other along the length direction of the connecting frame 33, and the axis of the first support shaft is collinear with the axis of the output shaft of the upper leg servo 312, and the axis of the second support shaft is collinear with the axis of the output shaft of the lower leg servo 322. One end of the upper leg drive arm 313 is synchronously rotatably connected to the output shaft of the upper leg servo 312, and the other end is connected to the upper leg connector. The upper leg servo motor 312 is fixedly connected to the upper leg drive arm 313 at one end along its length. The upper leg drive arm 314 is provided at one end of the upper leg servo motor 312, which is opposite to the upper leg drive arm 313. One end of the upper leg drive arm 314 is hinged to the first support shaft, and the other end is fixedly connected to the upper leg connector 311. The rotation of the upper leg servo motor 312 can drive the upper leg assembly 31 to rotate, thereby realizing the bending and straightening movements of the robot's upper leg. The lower leg drive arm 323 is synchronously rotatably connected to the output shaft of the lower leg servo motor 322 at one end, and fixedly connected to the lower leg connector 321 at the other end along its length. The lower leg drive arm 324 is provided at one end of the lower leg drive arm 323, which is opposite to the lower leg drive arm 323 at the other end. One end of the lower leg drive arm 324 is hinged to the second support shaft, and the other end is fixedly connected to the lower leg connector 321. The rotation of the lower leg servo motor 322 can drive the lower leg assembly 32 to rotate, thereby realizing the bending and straightening movements of the robot's lower leg.

[0038] In the above embodiment, by setting an upper leg servo 312 and a lower leg servo 322 on the leg assembly 30, the upper leg servo 312 and the lower leg servo 322 together form the robot's leg joint. By connecting the upper leg servo 312 and the lower leg servo 322 to the main control board, the bending or straightening movements of the robot's upper and lower leg parts can be controlled separately, and a buffering effect can be achieved. Specifically, when the robot is making a jumping action, during the landing process of the foot assembly, the upper leg servo 312 and the lower leg servo 322 are controlled to make the upper leg assembly 31 and the lower leg assembly 32 bend towards each other, thereby achieving a buffering effect on the leg assembly 30.

[0039] Please see Figures 1-12In one embodiment, the foot assembly 40 includes a caster bracket 41, a drive wheel 43, and a Mecanum wheel 42. The caster bracket 41 is provided with a mounting groove 411. The lower leg connecting seat 325 of the leg assembly 30 is disposed in the mounting groove 411 of the caster bracket 41 to realize the connection between the foot assembly 40 and the leg assembly 30. A drive motor is synchronously connected to the drive wheel 43 for driving the drive wheel 43.

[0040] In this embodiment, the drive wheel 43 and Mecanum wheel 42 are respectively located at both ends of the caster bracket 41 along its length. The mounting groove 411 is located at the middle position of the casters along their length. The drive wheel 43 is located on the side of the robot's front, and the drive wheels 43 on the two leg assemblies 30 are arranged opposite each other on the two opposing caster brackets 41. Each drive wheel 43 is equipped with a drive motor for driving the drive wheel 43. The caster bracket 41 is also equipped with a foot connecting plate 412, which is located at the opening of the mounting groove 411. One end of the lower leg connector 321 is inserted into the mounting groove 411, and the other end is fixed to the foot connecting plate 412.

[0041] In the above embodiment, the caster bracket 41 has a fixed shaft mounting hole 413 at the end away from the drive wheel 43, and a fixed shaft 45 is provided in the fixed shaft mounting hole 413. The Mecanum wheel 42 is rotatably connected to the fixed shaft 45. A bearing mounting hole 421 is provided in the axial direction of the Mecanum wheel 42, and a bearing 44 is provided in the bearing mounting hole 421. The Mecanum wheel 42 is rotatably connected to the fixed shaft 45. The end of the fixed shaft 45 away from the Mecanum wheel 42 is fixed to the caster bracket 41 by a nut 46.

[0042] Please see Figures 1-12 In one embodiment, the kung fu robot further includes a head 60, a battery compartment 70, and a hand 80. The head 60 is located above the chest 50. The battery compartment 70 is fixedly located at the rear end of the waist component body. The battery compartment body 71 contains a battery assembly 90 for powering the servo motor and the main control board. The hand 80 is located on the output shaft of the fifth servo motor 15.

[0043] In this embodiment, the hand 80 is rotatably connected to the output shaft of the fifth servo motor 15 to form the robot's wrist joint. The rotation of the fifth servo motor 15 enables the rotation of the robot's hand 80. The battery compartment 70 has a servo motor connector 73 at one end near the waist component body for connecting and communicating between the circuit board and several servo motors of the robot. The upper end of the battery compartment 70 has a head connector 72 for connecting and communicating between the servo motor connector 73 and the main control board. The chest 50 has a mounting cavity 52 at the end away from the leg components. The head 60 is placed on the mounting cavity 52. ​​The battery compartment 70 is provided with a second fixing hole 74 on the end face of the same end as the servo connector. The battery compartment 70 is fixedly connected to the waist component body through the second fixing hole 74. The connecting cavity 21 of the waist component body is also provided with a hollow part. The servo plug 73 is placed in the hollow part. The first wire 3121 on the upper leg servo 312 and the second wire 3221 on the lower leg servo 322 are both connected to the servo plug 73 through the hollow part, thereby realizing communication with the main control board.

[0044] Please see Figures 1-12 In one embodiment, the battery assembly 90 includes a battery body 91, a battery compartment cover 92, and a buckle 93. The battery body 91 is fixedly connected to the battery compartment cover 92, and the buckle 93 is disposed opposite to each other on both sides of the battery compartment cover 92. The battery body 91 is provided with a plug 911, and the battery compartment 70 is provided with a plug interface that mates with the plug 911. The battery body 91 is inserted into the battery compartment 70 through the buckle 93, and the plug 911 is inserted into the plug interface.

[0045] In this embodiment, the buckle 93 includes a buckle head 931, a guide head 932, and a pressing head 933. The guide head 932 is located at one end of the battery body 91, the pressing head 933 is located on the battery compartment cover 92, and the buckle head 931 is located between the pressing head 933 and the guide head 932. The buckle head 931 on the buckle 93 engages with the battery compartment 70 to achieve the engagement between the battery body 91 and the battery compartment 70. When it is necessary to disassemble or replace the battery body 91, the battery body 91 can be separated from the battery compartment 70 by pressing the pressing head 933 of the buckle 93, which can quickly achieve the disassembly and replacement of the battery body 91.

[0046] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A kung fu robot, characterized in that, The robot comprises an arm assembly, a waist assembly, a chest assembly, and a leg assembly. The arm assembly is positioned opposite each other on the left and right sides of the chest assembly. The waist assembly is located below the chest assembly, and the leg assembly is located below the waist assembly. A main control board is located within the chest assembly. The arm assembly includes at least five servo motors, namely, a first servo motor, a second servo motor, a third servo motor, a fourth servo motor, and a fifth servo motor. The servo motors are connected to each other via connectors. The first, second, and third servo motors form the robot's upper arm, and the fourth and fifth servo motors form the robot's forearm. The first, second, third, fourth, and fifth servo motors are all electrically connected to the main control board and are individually controlled by the main control board to achieve multi-degree-of-freedom shoulder and arm movements.

2. The kung fu robot according to claim 1, characterized in that, The first servo is provided with a fixing block, and the first servo is connected to the chest through the fixing block. The connecting parts include a first connecting part and a second connecting part. The second servo is connected to the first servo through the first connecting part, and one end of the first connecting part is synchronously rotatably connected to the output shaft of the first servo, and the other end is connected to the output shaft of the second servo. The third servo is connected to the second servo through the second connecting part.

3. The kung fu robot according to claim 2, characterized in that, The connector also includes a third connector and a fourth connector. The third servo and the fourth servo are connected to each other through the third connector. One end of the third connector is synchronously rotatably connected to the output shaft of the third servo, and the other end is connected to the output shaft of the fourth servo. The fifth servo and the fourth servo are connected to each other through the fourth connector.

4. The kung fu robot according to claim 1, characterized in that, The waist assembly includes a waist component body, a sixth servo motor, and a chest connecting plate. The waist component body has a connecting cavity, and a chest fixing part is provided in the vertical direction of the connecting cavity. The chest fixing part has a connecting hole. The sixth servo motor is fixed in the connecting cavity, and the output shaft of the sixth servo motor passes through the connecting hole. The chest connecting plate is synchronously rotatably connected to the output shaft of the sixth servo motor. The chest is connected to the waist component body through the chest connecting plate, and the rotation of the sixth servo motor can synchronously drive the chest to rotate.

5. The kung fu robot according to claim 4, characterized in that, The chest connecting plate and the sixth servo are located on the upper and lower sides of the chest fixing part in the vertical direction, respectively. A mounting plate is provided at one end of the connecting cavity near the chest connecting plate for fixing the sixth servo. A first threaded hole is provided on the chest fixing part. The mounting plate is fixed to the end of the chest fixing part away from the chest connecting plate through the first threaded hole. The sixth servo is connected to the waist component body through the mounting plate.

6. The kung fu robot according to claim 4, characterized in that, The leg assembly includes an upper leg assembly, a lower leg assembly, and a connecting frame. The upper leg assembly and the lower leg assembly are connected by the connecting frame. The upper leg assembly has an upper leg connecting seat at the end away from the connecting frame. The leg assembly is connected to the waist assembly through the upper leg connecting seat. The lower leg assembly has a lower leg connecting seat at the end away from the connecting frame. The lower leg connecting seat has a foot assembly.

7. The kung fu robot according to claim 6, characterized in that, The upper leg assembly includes an upper leg servo, an upper leg drive arm, and an upper leg connector. The upper leg drive arm is mounted on the output shaft of the upper leg servo. One end of the upper leg connector is located at the end of the upper leg drive arm away from the upper leg servo, and the other end is connected to the upper leg connector seat. The drive of the upper leg servo can synchronously drive the upper leg connector arm to rotate, thereby realizing the bending or straightening of the upper leg assembly. The lower leg assembly includes a lower leg servo, a lower leg drive arm, and a lower leg connector. The lower leg drive arm is mounted on the output shaft of the lower leg servo. One end of the lower leg connector is located at the end of the lower leg drive arm away from the lower leg servo, and the other end is connected to the lower leg connector seat. The drive of the lower leg servo can synchronously drive the lower leg connector arm to rotate, thereby realizing the bending or straightening of the lower leg assembly. Both the upper leg servo and the lower leg servo are electrically connected to the main control board.

8. The kung fu robot according to claim 6, characterized in that, The foot assembly includes a caster bracket, a drive wheel, and a Mecanum wheel. The caster bracket has a mounting groove, and the lower leg connector of the leg assembly is located in the mounting groove of the caster bracket to achieve the connection between the foot assembly and the leg assembly. A drive motor is synchronously connected to the drive wheel to drive it.

9. The kung fu robot according to claim 1, characterized in that, The kung fu robot also includes a head, a battery compartment, and hands. The head is located above the chest. The battery compartment is fixed to the rear end of the waist component body. The battery compartment body contains a battery assembly for powering the servo motors and the main control board. The hands are located on the output shaft of the fifth servo motor.

10. The kung fu robot according to claim 9, characterized in that, The battery assembly includes a battery body, a battery compartment cover, and a buckle. The battery body is fixedly connected to the battery compartment cover, and the buckles are arranged opposite to each other on both sides of the battery compartment cover. The battery body is provided with a plug, and the battery compartment is provided with a plug interface that mates with the plug. The battery body is inserted into the battery compartment through the buckle, and the plug is inserted into the plug interface.

Images