Biped humanoid robot

Abstract

The utility model relates to the technical field of robots, and provides a biped humanoid robot which comprises a robot trunk, two leg assemblies are arranged on the bottom face of the robot trunk, and hand assemblies are arranged on the two sides of the robot trunk. The leg assembly and the hand assembly can be folded so that the robot can simulate actions such as squatting and rising, two adjacent connecting pieces of the leg assembly and the hand assembly can be overturned freely within a flat angle range, through cooperation of the multiple connecting pieces, the foldability is greatly improved, the folding effect is improved, and when the robot is folded, the folding effect is greatly improved. According to the folding robot, driving is conducted through the arranged driving assembly, the driving assembly is stable in control and can be kept at any folding angle, then the robot is kept in a downward or standing posture, practicability is better, and application and popularization are more convenient.

Description

Technical Field

[0001] The present application relates to the field of robotics, and in particular to a bipedal humanoid robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It can perform tasks such as operation or movement through programming and automatic control. With the development of science and technology, many robots have entered our lives, such as food delivery robots in hotel rooms, consulting robots in supermarkets, sweeping robots in homes, etc. These robots have specific functions and can automatically complete specific tasks.

[0003] In addition, there are some more intelligent humanoid robots that can simulate more realistic manual operations. The hands and feet of this kind of bipedal humanoid robot can be folded at a certain angle to simulate squatting, standing up and other movements. However, when the existing bipedal humanoid robot is in use, the folding angle of the hands and feet is limited, resulting in an unsatisfactory folding effect. Therefore, a bipedal humanoid robot is proposed to solve the above problem. Utility Model Content

[0004] In order to solve the above problems, the present application provides a bipedal humanoid robot to solve the problem.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A bipedal humanoid robot comprises a robot trunk, wherein two leg assemblies are arranged on the bottom surface of the robot trunk, and hand assemblies are arranged on both sides of the robot trunk, wherein the leg assemblies comprise a first connecting frame connected to the bottom surface of the robot trunk, wherein the first connecting frame is rotatably connected to a first connecting block on a side away from the robot trunk, an n-type plate is fixed to a side of the first connecting block away from the robot trunk, a second connecting block is rotatably connected to a side of the n-type plate away from the robot trunk, a second connecting block is rotatably connected to a second connecting frame on a side away from the robot trunk, the second connecting frame is rotatably connected to a third connecting block on a side away from the robot trunk, a third connecting block is rotatably connected to a third connecting frame on a side away from the robot trunk, and a foot component is fixed to a side of the third connecting frame away from the robot trunk.

[0007] Preferably, the hand assembly includes a fourth connecting frame fixed on the side of the robot torso, the fourth connecting frame is rotatably connected to a rectangular block on the side facing away from the robot torso, the rectangular block is rotatably connected to a fifth connecting frame on the side facing away from the robot torso, and the fifth connecting frame is rotatably connected to a manipulator on the side facing away from the robot torso.

[0008] Preferably, the first connecting frame and the third connecting frame are both composed of two U-shaped plates, and the openings of the two U-shaped plates are opposite to each other and cross-shaped.

[0009] Preferably, the second connecting frame and the fifth connecting frame are composed of two U-shaped plates, and the two U-shaped plates are connected in an H-shape with their openings facing back to back.

[0010] Preferably, the fourth connecting frame is configured as a U-shaped plate.

[0011] Preferably, hollow shafts are connected at both ends of the first connecting block close to the robot torso, both ends of the upper part and the bottom of the second connecting block, both ends of the bottom of the third connecting block, both ends of the upper part and the lower part of the rectangular block, and both ends of the upper part of the manipulator; a driving assembly is provided in the hollow shaft, and the driving assembly includes a motor fixed on the inner circumferential wall of the hollow shaft, a worm is fixed on the output shaft of the motor, a rotating rod is connected to the hollow shaft for rotation along its central axis, and both ends of the rotating rod pass through the hollow shaft, and a worm wheel meshing with the worm is fixed on the circumferential surface of the rotating rod.

[0012] Preferably, the rotating rod on the first connecting block is fixed to the two ends of the lower part of the first connecting frame, the rotating rod at the upper part of the second connecting block is fixed to the two ends of the side of the n-type plate away from the robot torso, the rotating rod at the lower part of the second connecting block is fixed to the two ends of the upper part of the second connecting frame, and the rotating rod on the third connecting block is fixedly connected to the two ends of the upper part of the third connecting frame; the rotating rod at the upper part of the rectangular block is fixed to the two ends of the side of the fourth connecting frame away from the robot torso, the rotating rod at the lower part of the rectangular block is fixed to the two ends of the upper part of the fifth connecting frame, and the rotating rod on the manipulator is connected to the two ends of the lower part of the fifth connecting frame.

[0013] The advantages of the present application are as follows: the leg assembly and the hand assembly provided in the present application can be folded so that the robot can simulate squatting, standing up and other movements; the two adjacent connecting parts of the leg assembly and the hand assembly can be flipped arbitrarily within the flat angle range; through the cooperation of multiple connecting parts, the foldability is greatly improved, and the folding effect is improved; when folding, it is driven by the provided driving assembly, and the driving assembly is stably controlled and can be maintained at any folding angle, so that the robot can maintain a downward or upward posture, which is more practical and easier to promote and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0015] Figure 1 It is a three-dimensional schematic diagram of the overall appearance of the utility model;

[0016] Figure 2It is a three-dimensional schematic diagram of the overall appearance of the utility model from another angle;

[0017] Figure 3 It is a front sectional view of the drive assembly of the utility model;

[0018] Description of reference numerals:

[0019] 1. Robot torso; 2. Leg assembly; 21. First connecting frame; 22. N-type plate; 23. Second connecting frame; 25. Third connecting frame; 26. Foot component; 3. Hand assembly; 31. Fourth connecting frame; 32. Rectangular block; 33. Fifth connecting frame; 34. Manipulator; 4. Hollow shaft; 5. Drive assembly; 51. Motor; 52. Worm; 53. Rotating rod; 54. Worm wheel; 61. First connecting block; 62. Second connecting block; 63. Third connecting block. DETAILED DESCRIPTION

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0021] In the description of the present application, it should be understood that the terms "upper", "lower", "vertical", "horizontal", "top", "bottom", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0022] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0023] Embodiment 1 is described in conjunction with the accompanying drawings:

[0024] A bipedal humanoid robot comprises a robot trunk 1, two leg assemblies 2 are arranged on the bottom surface of the robot trunk 1, and hand assemblies 3 are arranged on both sides of the robot trunk 1. The leg assemblies 2 and hand assemblies 3 can be folded to enable the robot to simulate squatting, standing and other actions;

[0025] The leg assembly 2 includes a first connecting frame 21 connected to the bottom surface of the robot torso 1, the first connecting frame 21 is rotatably connected to a first connecting block 61 on the side away from the robot torso 1, the first connecting block 61 is fixed to an n-type plate 22 on the side away from the robot torso 1, the n-type plate 22 is rotatably connected to a second connecting block 62 on the side away from the robot torso 1, the second connecting block 62 is rotatably connected to a second connecting frame 23 on the side away from the robot torso 1, the second connecting frame 23 is rotatably connected to a third connecting block 63 on the side away from the robot torso 1, the third connecting block 63 is rotatably connected to a third connecting frame 25 on the side away from the robot torso 1, and the third connecting frame 26 is rotatably connected to a third connecting frame 27 on the side away from the robot torso 1. A foot component 26 is fixed to the side of the connecting frame 25 facing away from the robot torso 1. In the storage state, the first connecting block 61 can be flipped around the first connecting frame 21 until the first connecting block 61 is in a horizontal state, the second connecting block 62 can be flipped around the n-type plate 22 until the second connecting block 62 is in a vertical state, the second connecting frame 23 can be flipped and folded around the second connecting block 62 until the second connecting frame 23 is in a horizontal state, and the third connecting block 63 is flipped and folded around the third connecting frame 25 as the second connecting frame 23 is flipped and folded to a horizontal state, thereby realizing multi-stage flipping and folding of the robot's legs, greatly improving the folding effect of the robot's leg structure.

[0026] The hand assembly 3 includes a fourth connecting frame 31 fixed on the side of the robot torso 1, the fourth connecting frame 31 is rotatably connected to a rectangular block 32 on the side away from the robot torso 1, the rectangular block 32 is rotatably connected to a fifth connecting frame 33 on the side away from the robot torso 1, the fifth connecting frame 33 is rotatably connected to a manipulator 34 on the side away from the robot torso 1, the manipulator 34 can be flipped and folded around the fifth connecting frame 33, the fifth connecting frame 33 can be flipped and folded around the rectangular block 32, and the rectangular block 32 can be flipped and folded around the fourth connecting frame 31, and the folding effect of the robot arm structure is improved through multi-stage flipping and folding.

[0027] The first connecting frame 21 and the third connecting frame 25 are both composed of two U-shaped plates, and the openings of the two U-shaped plates are back to back and cross-shaped. The second connecting frame 23 and the fifth connecting frame 33 are both composed of two U-shaped plates, and the openings of the two U-shaped plates are back to back and connected in an H shape. The fourth connecting frame 31 is composed of a U-shaped plate. Such a structure facilitates improving the range of flipping and folding angles and improving the folding effect.

[0028] Embodiment 2 is described based on Embodiment 1 with reference to the accompanying drawings:

[0029] The hollow shaft 4 is connected to the two ends of the first connecting block 61 close to the robot trunk 1, the two ends of the upper part and the two ends of the bottom of the second connecting block 62, the two ends of the bottom of the third connecting block 63, the two ends of the upper part and the two ends of the lower part of the rectangular block 32, and the two ends of the upper part of the manipulator 34;

[0030] A driving assembly 5 is provided in the hollow shaft 4, and the driving assembly 5 includes a motor 51 fixed on the inner circumferential wall of the hollow shaft 4, a worm 52 is fixed on the output shaft of the motor 51, a rotating rod 53 is rotatably connected in the hollow shaft 4 along the axial direction thereof, and both ends of the rotating rod 53 pass through the hollow shaft 4, and a worm wheel 54 meshing with the worm 52 is fixed on the circumferential surface of the rotating rod 522. When folding, the robot is driven by the arranged driving assembly 5, and the driving assembly 5 is stably controlled and can be maintained at any folding angle, so that the robot can maintain a downward or upward posture, which is more practical and more convenient for popularization and use.

[0031] Further, the rotating rod 53 on the first connecting block 61 is fixed to the two ends of the lower part of the first connecting frame 21, the rotating rod 53 on the upper part of the second connecting block 62 is fixed to the two ends of the side of the n-type plate 22 away from the robot trunk 1, the rotating rod 53 on the lower part of the second connecting block 62 is fixed to the two sides of the upper part of the second connecting frame 23, and the rotating rod 53 on the third connecting block 63 is fixedly connected to the two sides of the upper part of the third connecting frame 25;

[0032] The rotating rod 53 at the upper part of the rectangular block 32 is fixed to the two ends of the side of the fourth connecting frame 31 away from the robot torso 1, the rotating rod 53 at the lower part of the rectangular block 32 is fixed to the two ends of the upper part of the fifth connecting frame 33, and the rotating rod on the manipulator 34 is connected to the two ends of the lower part of the fifth connecting frame 33.

[0033] Working principle of the present application: When the present application is in use, the third connecting block 63 can be flipped and folded around the third connecting frame 25, the second connecting block 62 can be flipped and folded around the second connecting frame 23, the n-type plate 22 can be flipped and folded around the second connecting block 62, and the first connecting block 61 can be flipped and folded around the first connecting frame 21. Through multi-stage flipping and folding, the folding effect of the robot leg structure is greatly improved. In addition, the manipulator 34 can be flipped and folded around the fifth connecting frame 33, the fifth connecting frame 33 can be flipped and folded around the rectangular block 32, and the rectangular block 32 can be flipped and folded around the fourth connecting frame 31. Through multi-stage flipping and folding, the folding effect of the robot arm structure is improved.

[0034] When it is necessary to control the robot to complete an action, the motor 51 of the corresponding joint is started, the motor 51 drives the worm 52 to rotate, the worm 52 drives the rotating rod 53 to rotate through the worm wheel 54, the rotating rod 53 and the hollow shaft 4 can rotate relative to each other, because the hollow shaft 4 and the rotating rod 53 are respectively fixed to two adjacent joint parts, the joint part can be driven to be flipped and folded, and the self-locking characteristics of the worm wheel 54 and the worm 52 can maintain the flipped and folded angle.

[0035] It should be noted that the control method of the present application is controlled by a controller, and the control circuit of the controller can be implemented by simple programming by technicians in this field. The provision of power is also common knowledge in this field, and the present application is mainly used to protect mechanical devices, so the present application will no longer explain the control method and circuit connection in detail.

[0036] For those skilled in the art, the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application; therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is defined by the appended claims rather than the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0037] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any minor modifications, equivalent substitutions and improvements made to the above embodiments based on the technical essence of the present application should be included in the protection scope of the technical solution of the present application.

Claims

1. A bipedal humanoid robot, characterized in that: The robot comprises a robot trunk (1), wherein two leg assemblies (2) are arranged on the bottom surface of the robot trunk (1), and hand assemblies (3) are arranged on both sides of the robot trunk (1), wherein the leg assemblies (2) comprise a first connecting frame (21) connected to the bottom surface of the robot trunk (1), wherein a first connecting block (61) is rotatably connected to a side of the first connecting frame (21) away from the robot trunk (1), and an n-type plate (22) is fixed to a side of the first connecting block (61) away from the robot trunk (1), and the n-type plate (22) A second connecting block (62) is rotatably connected to the side facing away from the robot trunk (1); the second connecting block (62) is rotatably connected to the side facing away from the robot trunk (1) and a second connecting frame (23); the second connecting frame (23) is rotatably connected to the third connecting block (63) facing away from the robot trunk (1); the third connecting block (63) is rotatably connected to the side facing away from the robot trunk (1) and a third connecting frame (25); a foot component (26) is fixed to the side of the third connecting frame (25) facing away from the robot trunk (1).

2. A bipedal humanoid robot according to claim 1, characterized in that: The hand assembly (3) comprises a fourth connecting frame (31) fixed on the side of the robot trunk (1); the fourth connecting frame (31) is rotatably connected to a rectangular block (32) on the side facing away from the robot trunk (1); the rectangular block (32) is rotatably connected to a fifth connecting frame (33) on the side facing away from the robot trunk (1); and the fifth connecting frame (33) is rotatably connected to a manipulator (34) on the side facing away from the robot trunk (1).

3. A bipedal humanoid robot according to claim 2, characterized in that: The first connecting frame (21) and the third connecting frame (25) are both composed of two U-shaped plates, and the openings of the two U-shaped plates are opposite to each other and cross-shaped.

4. A bipedal humanoid robot according to claim 3, characterized in that: The second connecting frame (23) and the fifth connecting frame (33) are composed of two U-shaped plates, and the two U-shaped plates are connected in an H-shape with their openings facing back to back.

5. The bipedal humanoid robot according to claim 4, characterized in that: The fourth connecting frame (31) is configured as a U-shaped plate.

6. A bipedal humanoid robot according to claim 5, characterized in that: The first connecting block (61) is connected to both ends of the robot trunk (1), the upper ends and the bottom ends of the second connecting block (62), the bottom ends of the third connecting block (63), the upper ends and the lower ends of the rectangular block (32), and the upper ends of the manipulator (34) at the hollow shaft (4); a driving assembly (5) is arranged inside the hollow shaft (4), and the driving assembly (5) comprises a motor (51) fixed on the inner peripheral wall of the hollow shaft (4), a worm (52) is fixed on the output shaft of the motor (51), a rotating rod (53) is connected to the hollow shaft (4) in a rotational manner along the axis thereof, and the two ends of the rotating rod (53) pass through the hollow shaft (4), and a worm wheel (54) meshing with the worm (52) is fixed on the circumferential surface of the rotating rod (53).

7. A bipedal humanoid robot according to claim 6, characterized in that: The rotating rod (53) on the first connecting block (61) is fixed to the two ends of the lower part of the first connecting frame (21); the rotating rod (53) on the upper part of the second connecting block (62) is fixed to the two ends of the side of the n-type plate (22) away from the robot trunk (1); the rotating rod (53) on the lower part of the second connecting block (62) is fixed to the two ends of the upper part of the second connecting frame (23); the rotating rod (53) on the third connecting block (63) is fixedly connected to the two ends of the upper part of the third connecting frame (25); the rotating rod (53) on the upper part of the rectangular block (32) is fixed to the two ends of the side of the fourth connecting frame (31) away from the robot trunk (1); the rotating rod (53) on the lower part of the rectangular block (32) is fixed to the two ends of the upper part of the fifth connecting frame (33); and the rotating rod (53) on the manipulator (34) is connected to the two ends of the lower part of the fifth connecting frame (33).

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