High-flexibility simulation robot

Abstract

The utility model discloses a high-flexibility simulation robot. A left arm mechanism of the high-flexibility simulation robot has four degrees of freedom of motion, wherein the left arm mechanism rotates relative to a trunk mechanism, the left arm mechanism performs pitching motion relative to the trunk mechanism, a large arm of the left arm mechanism rotates, and an elbow of the left arm mechanism swings forwards; the right arm mechanism has four degrees of freedom of motion; the right arm mechanism rotates relative to the trunk mechanism, the right arm mechanism performs pitching motion relative to the trunk mechanism, a big arm of the right arm mechanism rotates, and an elbow of the right arm mechanism swings forwards; the hip mechanism has one degree of freedom of motion; the hip mechanism rotates relative to the trunk mechanism; each of the left leg mechanism and the right leg mechanism has six degrees of freedom of motion, namely, forward swing, side swing, rotation, knee forward swing, ankle forward swing and ankle side swing of the left leg mechanism and the right leg mechanism. The six-degree-of-freedom parallel robot is high in compactness and high in joint integration degree, a large movement range of the robot can be achieved, and flexibility and universality are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and particularly relates to a highly flexible simulation robot. Background Art

[0002] With the deepening of people's understanding of the intelligent essence of robot technology, robot technology has begun to continuously penetrate into various fields of human activities. Combining the application characteristics of these fields, people have developed various special robots and various intelligent robots with sensing, decision-making, action, and interaction capabilities.

[0003] A robot is a machine device that automatically performs work. It can not only accept human commands, but also run pre-programmed programs, or act according to the principles and guidelines formulated by artificial intelligence technology. It is the product of the advanced integration of cybernetics, mechatronics, computers, materials, and bionics, and has important uses in industries, medicine, agriculture, service industries, construction, and even military fields.

[0004] For a simulation robot, a reliable mechanical structure design is the premise to ensure the realization of the robot's software control or programmed actions. Especially for a humanoid biped robot, the weight distribution of each component is an important factor affecting the robot's performance. The overall layout compactness, joint integration, and versatility of its structure are also relatively crucial. How to design a simulation robot with a compact layout, high joint integration, and strong flexibility has important application value. Summary of the Utility Model

[0005] Therefore, the utility model provides a highly flexible simulation robot with a more compact structure layout, high joint integration, and stronger flexibility.

[0006] To achieve the above object, the utility model provides the following technical solution: a highly flexible simulation robot, comprising a head mechanism, a torso mechanism, a left arm mechanism, a right arm mechanism, a hip mechanism, a left leg mechanism, and a right leg mechanism;

[0007] The head mechanism is connected to the upper end of the torso mechanism, and the head mechanism has 2 degrees of freedom of movement: the head mechanism rotates and pitches relative to the torso mechanism;

[0008] The left arm mechanism is connected to the left side of the torso mechanism, and the left arm mechanism has 4 degrees of freedom of movement: the left arm mechanism rotates relative to the torso mechanism, the left arm mechanism pitches relative to the torso mechanism, the upper arm of the left arm mechanism rotates, and the elbow of the left arm mechanism swings forward;

[0009] The right arm mechanism is connected to the right side of the torso mechanism. The right arm mechanism has 4 degrees of freedom of movement: the right arm mechanism rotates relative to the torso mechanism, the right arm mechanism pitches relative to the torso mechanism, the upper arm of the right arm mechanism rotates, and the elbow of the right arm mechanism swings forward.

[0010] The hip mechanism is connected to the lower end of the torso mechanism. The hip mechanism has 1 degree of freedom of movement: the hip mechanism rotates relative to the torso mechanism.

[0011] The left leg mechanism is connected to the left side of the hip mechanism. The left leg mechanism has 6 degrees of freedom of movement: the left leg mechanism swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally.

[0012] The right leg mechanism is connected to the right side of the hip mechanism. The right leg mechanism has 6 degrees of freedom of movement: the right leg mechanism swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally.

[0013] As a preferred solution for a highly flexible simulation robot, the torso mechanism includes a torso frame, and a main controller and a battery pack are arranged inside the torso frame; the drive motors of the head mechanism, the torso mechanism, the left arm mechanism, the right arm mechanism, the hip mechanism, the left leg mechanism, and the right leg mechanism are all electrically connected to the main controller, and the battery pack is electrically connected to the main controller.

[0014] As a preferred solution for a highly flexible simulation robot, the head mechanism includes a binocular camera, and a head pitching drive motor is connected to the lower end of the binocular camera; a head rotation drive motor is connected to the lower end of the head pitching drive motor, and the head rotation drive motor is arranged inside the torso frame of the torso mechanism.

[0015] As a preferred solution for a highly flexible simulation robot, the left arm mechanism includes a left arm rotation drive motor, a left arm pitching drive motor, a left upper arm, a left elbow rotation drive motor, a left elbow swing drive motor, and a left lower arm;

[0016] The left arm rotation drive motor is inside the torso frame, and the power output end of the left arm rotation drive motor is connected to the left arm pitching drive motor; the power output end of the left arm pitching drive motor is connected to one end of the left upper arm; the left elbow rotation drive motor is inside the left upper arm, and the power output end of the left elbow rotation drive motor is connected to the left elbow swing drive motor; the power output end of the left elbow swing drive motor is connected to the other end of the left upper arm, and the left lower arm is connected to the side of the left elbow swing drive motor.

[0017] As an optimal solution for a highly flexible simulation robot, the right arm mechanism includes a right arm rotation drive motor, a right arm pitch drive motor, a right upper arm, a right elbow rotation drive motor, a right elbow swing drive motor, and a right lower arm;

[0018] The right arm rotation drive motor is inside the torso frame, and the power output end of the right arm rotation drive motor is connected to the right arm pitch drive motor; the power output end of the right arm pitch drive motor is connected to one end of the right upper arm; the right elbow rotation drive motor is inside the right upper arm, and the power output end of the right elbow rotation drive motor is connected to the right elbow swing drive motor; the power output end of the right elbow swing drive motor is connected to the other end of the right upper arm, and the right lower arm is connected to the side of the right elbow swing drive motor.

[0019] As an optimal solution for a highly flexible simulation robot, the hip mechanism includes a waist rotation drive motor, a hip structure member, a hip flange, a left leg swing drive motor, and a right leg swing drive motor;

[0020] The upper part of the waist rotation drive motor is fixedly connected to the lower end of the torso frame, and the power output end of the waist rotation drive motor is connected to the hip structure member through the hip flange;

[0021] The left leg swing drive motor is arranged on the left side inside the hip structure member, and the hip mechanism is connected to the left leg mechanism through the left leg swing drive motor;

[0022] The right leg swing drive motor is arranged on the right side inside the hip structure member, and the hip mechanism is connected to the right leg mechanism through the right leg swing drive motor.

[0023] As an optimal solution for a highly flexible simulation robot, both the left leg mechanism and the right leg mechanism include a leg-crossing drive assembly, a thigh assembly, a knee joint drive motor, a calf assembly, an ankle assembly, and a foot plate assembly;

[0024] The hip mechanism is connected to the leg-crossing drive assembly through the leg swing drive motor; the upper end of the thigh assembly is connected to the power output end of the leg-crossing drive assembly; the lower end of the thigh assembly is connected to the knee joint drive motor, the power output end of the knee joint drive motor is connected to the upper end of the calf assembly, the lower end of the calf assembly is connected to the ankle assembly, and the ankle assembly is connected to the foot plate assembly.

[0025] As an optimal solution for a highly flexible simulation robot, the cross-leg drive assembly includes a cross-leg drive motor, and the thigh assembly includes a cross-swing output structural member, a cross-swing passive-end structural member, a leg rotation drive motor, and a leg extension member; the power output end of the cross-leg drive motor is connected to the cross-swing output structural member, and the other end of the cross-leg drive motor is connected to the cross-swing passive-end structural member;

[0026] A leg rotation power output structural member is provided between the cross-swing output structural member and the cross-swing passive-end structural member, and the power output end of the leg rotation drive motor is connected to the leg rotation power output structural member; the lower end of the leg rotation drive motor is connected to the leg extension member.

[0027] As an optimal solution for a highly flexible simulation robot, the calf assembly includes a knee joint power output structural member, a knee joint passive-end structural member, a calf structural member, a first ankle joint drive motor, a second ankle joint drive motor, a first rocker swing member, and a second rocker swing member; the ankle assembly includes an ankle cross shaft member and an ankle connecting rod;

[0028] The power output end of the knee joint drive motor is connected to the knee joint power output structural member, and the other end of the knee joint drive motor is connected to the knee joint passive-end structural member; the upper part of the calf structural member is connected between the lower part of the knee joint power output structural member and the lower part of the knee joint passive-end structural member, the lower part of the calf structural member is connected to the ankle cross shaft member, and the ankle cross shaft member is fixed above the foot plate assembly;

[0029] The calf structural member is formed with a first motor mounting position and a second motor mounting position; the first ankle joint drive motor is fixed in the first motor mounting position, the power output end of the first ankle joint drive motor is connected to the upper part of the first rocker swing member, and the lower part of the first rocker swing member is connected to one side of the ankle connecting rod; the second ankle joint drive motor is fixed in the second motor mounting position, the power output end of the second ankle joint drive motor is connected to the upper part of the second rocker swing member, and the lower part of the second rocker swing member is connected to the other side of the ankle connecting rod.

[0030] As an optimal solution for a highly flexible simulation robot, a foot plate adapter is provided at the lower end of the ankle connecting rod, the ankle cross shaft member is connected to the foot plate adapter, and the foot plate adapter is fixed above the foot plate assembly.

[0031] The beneficial effects of the present utility model are as follows. It is provided with a head mechanism, a torso mechanism, a left arm mechanism, a right arm mechanism, a hip mechanism, a left leg mechanism and a right leg mechanism. The head mechanism is connected to the upper end of the torso mechanism. The head mechanism has 2 degrees of freedom of movement: the head mechanism rotates and pitches relative to the torso mechanism. The left arm mechanism is connected to the left side of the torso mechanism. The left arm mechanism has 4 degrees of freedom of movement: the left arm mechanism rotates relative to the torso mechanism, the left arm mechanism pitches relative to the torso mechanism, the upper arm of the left arm mechanism rotates, and the elbow of the left arm mechanism swings forward. The right arm mechanism is connected to the right side of the torso mechanism. The right arm mechanism has 4 degrees of freedom of movement: the right arm mechanism rotates relative to the torso mechanism, the right arm mechanism pitches relative to the torso mechanism, the upper arm of the right arm mechanism rotates, and the elbow of the right arm mechanism swings forward. The hip mechanism is connected to the lower end of the torso mechanism. The hip mechanism has 1 degree of freedom of movement: the hip mechanism rotates relative to the torso mechanism. The left leg mechanism is connected to the left side of the hip mechanism. The left leg mechanism has 6 degrees of freedom of movement: the left leg mechanism swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally. The right leg mechanism is connected to the right side of the hip mechanism. The right leg mechanism has 6 degrees of freedom of movement: the right leg mechanism swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally. The overall layout of the structure of the present utility model is highly compact, with a high degree of joint integration, enabling a large range of motion for the robot, and increasing flexibility and versatility. Description of the Drawings

[0032] In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are merely exemplary, and for those of ordinary skill in the art, without creative efforts, other implementation drawings can also be obtained based on the provided drawings.

[0033] The structures, ratios, sizes, etc. depicted in this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the limiting conditions under which the present utility model can be implemented. Therefore, they do not have a substantial technical meaning. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed in the present utility model.

[0034] Figure 1 Schematic diagram of the three-dimensional structure of the highly flexible simulation robot provided by the embodiment of the present utility model;

[0035] Figure 2 Schematic diagram showing the design of the torso mechanism of the highly flexible simulation robot provided by the embodiment of the present utility model;

[0036] Figure 3 Schematic diagram of the left arm mechanism of the highly flexible simulation robot provided by the embodiment of the present invention;

[0037] Figure 4 Schematic diagram of the right arm mechanism of the highly flexible simulation robot provided by the embodiment of the present invention;

[0038] Figure 5 Schematic diagram of the hip mechanism of the highly flexible simulation robot provided by the embodiment of the present invention;

[0039] Figure 6 Schematic diagram of the left leg / right leg mechanism of the highly flexible simulation robot provided by the embodiment of the present invention;

[0040] Figure 7 Schematic diagram of the thigh assembly of the highly flexible simulation robot provided by the embodiment of the present invention;

[0041] Figure 8 Exploded view of the thigh assembly of the highly flexible simulation robot provided by the embodiment of the present invention;

[0042] Figure 9 Schematic diagram of the calf assembly of the highly flexible simulation robot provided by the embodiment of the present invention;

[0043] Figure 10 Exploded view of the calf assembly of the highly flexible simulation robot provided by the embodiment of the present invention.

[0044] In the figure, 1. Head mechanism; 2. Trunk mechanism; 3. Left arm mechanism; 4. Right arm mechanism; 5. Hip mechanism; 6. Left leg mechanism; 7. Right leg mechanism; 8. Trunk frame; 9. Main controller; 10. Battery pack; 11. Binocular camera; 12. Head pitch drive motor; 13. Head rotation drive motor; 14. Left arm rotation drive motor; 15. Left arm pitch drive motor; 16. Left upper arm; 17. Left elbow rotation drive motor; 18. Left elbow swing drive motor; 19. Left lower arm; 20. Right arm rotation drive motor; 21. Right arm pitch drive motor; 22. Right upper arm; 23. Right elbow rotation drive motor; 24. Right elbow swing drive motor; 25. Right lower arm; 26. Waist rotation drive motor; 27. Hip structural member; 28. Hip flange; 29. Left leg swing drive motor; 30. Right leg swing drive motor; 31. Cross-leg drive assembly; 32. Thigh assembly; 33. Knee joint drive motor; 34. Calf assembly; 35. Ankle assembly; 36. Foot plate assembly; 37. Cross-leg drive motor; 38. Cross-swing output structural member; 39. Cross-swing passive end structural member; 40. Leg rotation drive motor; 41. Leg extension; 42. Leg rotation power output structural member; 43. Knee joint power output structural member; 44. Knee joint passive end structural member; 45. Calf structural member; 46. First ankle drive motor; 47. Second ankle drive motor; 48. First rocker swing member; 49. Second rocker swing member; 50. Ankle cross shaft member; 51. Ankle connecting rod; 52. First motor mounting position; 53. Second motor mounting position; 54. Foot plate adapter. Detailed implementation manners

[0045] The following specific embodiments illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] See Figure 1 and Figure 2 , the embodiment of the present invention provides a highly flexible simulation robot, including a head mechanism 1, a trunk mechanism 2, a left arm mechanism 3, a right arm mechanism 4, a hip mechanism 5, a left leg mechanism 6 and a right leg mechanism 7;

[0047] Among them, the head mechanism 1 is connected to the upper end of the trunk mechanism 2, and the head mechanism 1 has 2 degrees of freedom of movement: the head mechanism 1 rotates and pitches relative to the trunk mechanism 2;

[0048] Among them, the left arm mechanism 3 is connected to the left side of the torso mechanism 2. The left arm mechanism 3 has 4 degrees of freedom of movement: the left arm mechanism 3 rotates relative to the torso mechanism 2, the left arm mechanism 3 pitches relative to the torso mechanism 2, the upper arm of the left arm mechanism 3 rotates, and the elbow of the left arm mechanism 3 swings forward.

[0049] Among them, the right arm mechanism 4 is connected to the right side of the torso mechanism 2. The right arm mechanism 4 has 4 degrees of freedom of movement: the right arm mechanism 4 rotates relative to the torso mechanism 2, the right arm mechanism 4 pitches relative to the torso mechanism 2, the upper arm of the right arm mechanism 4 rotates, and the elbow of the right arm mechanism 4 swings forward.

[0050] Among them, the hip mechanism 5 is connected to the lower end of the torso mechanism 2. The hip mechanism 5 has 1 degree of freedom of movement: the hip mechanism 5 rotates relative to the torso mechanism 2.

[0051] Among them, the left leg mechanism 6 is connected to the left side of the hip mechanism 5. The left leg mechanism 6 has 6 degrees of freedom of movement: the left leg mechanism 6 swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally.

[0052] Among them, the right leg mechanism 7 is connected to the right side of the hip mechanism 5. The right leg mechanism 7 has 6 degrees of freedom of movement: the right leg mechanism 7 swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally.

[0053] See Figure 2 , in this embodiment, the torso mechanism 2 includes a torso frame 8. A main controller 9 and a battery pack 10 are provided inside the torso frame 8. The drive motors of the head mechanism 1, the torso mechanism 2, the left arm mechanism 3, the right arm mechanism 4, the hip mechanism 5, the left leg mechanism 6, and the right leg mechanism 7 are all electrically connected to the main controller 9, and the battery pack 10 is electrically connected to the main controller 9.

[0054] Specifically, the drive motors of the head mechanism 1, torso mechanism 2, left arm mechanism 3, right arm mechanism 4, hip mechanism 5, left leg mechanism 6, and right leg mechanism 7 are all powered by the battery pack 10, and at the same time, the main controller 9 controls the actions of the head mechanism 1, torso mechanism 2, left arm mechanism 3, right arm mechanism 4, hip mechanism 5, left leg mechanism 6, and right leg mechanism 7, so as to realize the rotation and pitching motion of the head mechanism 1 relative to the torso mechanism 2, the rotation motion of the left arm mechanism 3 relative to the torso mechanism 2, the pitching motion of the left arm mechanism 3 relative to the torso mechanism 2, the rotation of the upper arm of the left arm mechanism 3 and the forward swing of the elbow of the left arm mechanism 3; realize the rotation motion of the right arm mechanism 4 relative to the torso mechanism 2, the pitching motion of the right arm mechanism 4 relative to the torso mechanism 2, the rotation of the upper arm of the right arm mechanism 4 and the forward swing of the elbow of the right arm mechanism 4; realize the rotation motion of the hip mechanism 5 relative to the torso mechanism 2; the rotation of the hip mechanism 5 relative to the left leg mechanism 6; the rotation of the hip mechanism 5 relative to the right leg mechanism 7; realize the forward swing, side swing, rotation, knee forward swing, ankle forward swing, and ankle side swing motions of the left leg mechanism 6; realize the forward swing, side swing, rotation, knee forward swing, ankle forward swing, and ankle side swing motions of the right leg mechanism 7.

[0055] Refer to again Figure 1 and Figure 2 In this embodiment, the head mechanism 1 includes a binocular camera 11, and a head pitching drive motor 12 is connected to the lower end of the binocular camera 11; a head rotation drive motor 13 is connected to the lower end of the head pitching drive motor 12, and the head rotation drive motor 13 is arranged inside the torso frame 8 of the torso mechanism 2.

[0056] Specifically, a binocular camera 11 is installed at the top of the head mechanism 1. The rotation and pitching motions of the binocular camera 11 on the head can be realized through the head rotation drive motor 13 and the head pitching drive motor 12. Among them, the head rotation drive motor 13 that controls the rotation of the binocular camera 11 is fixed inside the torso frame 8 of the torso mechanism 2, the output flange of the head rotation drive motor 13 is connected to the fixed end of the head pitching drive motor 12 that controls the pitching of the binocular camera 11, and the output flange of the head pitching drive motor 12 that controls the pitching of the binocular camera 11 is connected to the camera mounting assembly to realize the motion of the binocular camera 11. Among them, the machine vision algorithms integrated with the main controller 9 and the binocular camera 11 are themselves prior arts and will not be elaborated here.

[0057] Refer to Figure 3 In this embodiment, the left arm mechanism 3 includes a left arm rotation drive motor 14, a left arm pitching drive motor 15, a left upper arm 16, a left elbow rotation drive motor 17, a left elbow swing drive motor 18, and a left lower arm 19;

[0058] The left - arm rotation drive motor 14 is inside the torso frame 8. The power output end of the left - arm rotation drive motor 14 is connected to the left - arm pitching drive motor 15. The power output end of the left - arm pitching drive motor 15 is connected to one end of the left upper arm 16. The left - elbow rotation drive motor 17 is inside the left upper arm 16. The power output end of the left - elbow rotation drive motor 17 is connected to the left - elbow swing drive motor 18. The power output end of the left - elbow swing drive motor 18 is connected to the other end of the left upper arm 16, and the left lower arm 19 is connected to the side of the left - elbow swing drive motor 18.

[0059] Specifically, the left - arm rotation drive motor 14 inside the torso frame 8 can drive the left - arm pitching drive motor 15, the left upper arm 16, the left - elbow rotation drive motor 17, the left - elbow swing drive motor 18, and the left lower arm 19 to rotate. The left - arm pitching drive motor 15 can drive the left upper arm 16, the left - elbow rotation drive motor 17, the left - elbow swing drive motor 18, and the left lower arm 19 to pitch. The left - elbow rotation drive motor 17 can drive the left - elbow swing drive motor 18 and the left lower arm 19 to rotate. The left - elbow swing drive motor 18 can drive the left lower arm 19 to swing.

[0060] See Figure 4 , in this embodiment, the right - arm mechanism 4 includes a right - arm rotation drive motor 20, a right - arm pitching drive motor 21, a right upper arm 22, a right - elbow rotation drive motor 23, a right - elbow swing drive motor 24, and a right lower arm 25;

[0061] The right - arm rotation drive motor 20 is inside the torso frame 8. The power output end of the right - arm rotation drive motor 20 is connected to the right - arm pitching drive motor 21. The power output end of the right - arm pitching drive motor 21 is connected to one end of the right upper arm 22. The right - elbow rotation drive motor 23 is inside the right upper arm 22. The power output end of the right - elbow rotation drive motor 23 is connected to the right - elbow swing drive motor 24. The power output end of the right - elbow swing drive motor 24 is connected to the other end of the right upper arm 22, and the right lower arm 25 is connected to the side of the right - elbow swing drive motor 24.

[0062] Specifically, the right - arm rotation drive motor 20 inside the torso frame 8 can drive the right - arm pitching drive motor 21, the right upper arm 22, the right - elbow rotation drive motor 23, the right - elbow swing drive motor 24, and the right lower arm 25 to rotate. The right - arm pitching drive motor 21 can drive the right upper arm 22, the right - elbow rotation drive motor 23, the right - elbow swing drive motor 24, and the right lower arm 25 to pitch. The right - elbow rotation drive motor 23 can drive the right - elbow swing drive motor 24 and the right lower arm 25 to rotate. The right - elbow swing drive motor 24 can drive the right lower arm 25 to swing.

[0063] See Figure 5, in this embodiment, the hip mechanism 5 includes a waist rotation drive motor 26, a hip structural member 27, a hip flange 28, a left leg swing drive motor 29, and a right leg swing drive motor 30;

[0064] The upper part of the waist rotation drive motor 26 is fixedly connected to the lower end of the torso frame 8, and the power output end of the waist rotation drive motor 26 is connected to the hip structural member 27 through the hip flange 28; the left leg swing drive motor 29 is arranged on the left side inside the hip structural member 27, and the hip mechanism 5 is connected to the left leg mechanism 6 through the left leg swing drive motor 29; the right leg swing drive motor 30 is arranged on the right side inside the hip structural member 27, and the hip mechanism 5 is connected to the right leg mechanism 7 through the right leg swing drive motor 30.

[0065] Specifically, the waist rotation drive motor 26 can drive the hip structural member 27 to rotate through the hip flange 28. The left leg swing drive motor 29 inside the hip structural member 27 can drive the entire left leg mechanism 6 to swing, and the right leg swing drive motor 30 inside the hip structural member 27 can drive the entire right leg mechanism 7 to swing. Among them, for the left leg swing drive motor 29 and the right leg swing drive motor 30, a clamping structural member can be connected to the hip structural member 27, and the clamping structural member fixes the left leg swing drive motor 29 and the right leg swing drive motor 30 inside the hip structural member 27 through bolts.

[0066] See Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 , in this embodiment, both the left leg mechanism 6 and the right leg mechanism 7 include a cross-leg drive assembly 31, a thigh assembly 32, a knee joint drive motor 33, a calf assembly 34, an ankle assembly 35, and a foot plate assembly 36;

[0067] Among them, the hip mechanism 5 is connected to the cross-leg driving component 31 through the leg swing driving motor; the upper end of the thigh component 32 is connected to the power output end of the cross-leg driving component 31; the lower end of the thigh component 32 is connected to the knee joint driving motor 33, and the power output end of the knee joint driving motor 33 is connected to the upper end of the calf component 34, and the lower end of the calf component 34 is connected to the ankle component 35, and the ankle component 35 is connected to the foot plate component 36; the cross-leg driving component 31 includes a cross-leg driving motor 37, and the thigh component 32 includes a cross-swing output structural member 38, a cross-swing passive end structural member 39, a leg rotation driving motor 40 and a leg extension member 41; the power output end of the cross-leg driving motor 37 is connected to the cross-swing output structural member 38, and the other end of the cross-leg driving motor 37 is connected to the cross-swing passive end structural member 39; a leg rotation power output structural member 42 is provided between the cross-swing output structural member 38 and the cross-swing passive end structural member 39, and the power output end of the leg rotation driving motor 40 is connected to the leg rotation power output structural member 42; the lower end of the leg rotation driving motor 40 is connected to the leg extension member 41.

[0068] Specifically, the hip mechanism 5 drives the cross-leg driving component 31 to swing through the leg swing driving motor, and the cross-leg driving motor 37 of the cross-leg driving component 31 can drive the thigh component 32 and the calf component 34 to move laterally. The cross-leg driving motor 37 is connected through the cross-swing output structural member 38 and the cross-swing passive end structural member 39, and power is output through the cross-swing output structural member 38. The leg rotation driving motor 40 can drive the leg rotation power output structural member 42 between the cross-swing output structural member 38 and the cross-swing passive end structural member 39 to rotate, so as to drive the leg extension member 41, the knee joint driving motor 33 and the lower calf component 34 as a whole to rotate. Among them, the knee joint driving motor 33 can drive the calf component 34 to swing back and forth.

[0069] See Figure 9 and Figure 10 , in this embodiment, the calf component 34 includes a knee joint power output structural member 43, a knee joint passive end structural member 44, a calf structural member 45, a first ankle joint driving motor 46, a second ankle joint driving motor 47, a first rocker swing member 48 and a second rocker swing member 49; the ankle component 35 includes an ankle cross shaft member 50 and an ankle connecting rod 51;

[0070] Among them, the power output end of the knee joint drive motor 33 is connected to the knee joint power output structural member 43, and the other end of the knee joint drive motor 33 is connected to the knee joint passive end structural member 44; the upper part of the calf structural member 45 is connected between the lower part of the knee joint power output structural member 43 and the lower part of the knee joint passive end structural member 44, and the lower part of the calf structural member 45 is connected to the ankle cross shaft member 50, and the ankle cross shaft member 50 is fixed above the foot plate assembly 36; the calf structural member 45 is formed with a first motor mounting position 52 and a second motor mounting position 53; the first ankle joint drive motor 46 is fixed at the first motor mounting position 52, and the power output end of the first ankle joint drive motor 46 is connected to the upper part of the first rocker arm swing member 48, and the lower part of the first rocker arm swing member 48 is connected to one side of the ankle connecting rod 51; the second ankle joint drive motor 47 is fixed at the second motor mounting position 53, and the power output end of the second ankle joint drive motor 47 is connected to the upper part of the second rocker arm swing member 49, and the lower part of the second rocker arm swing member 49 is connected to the other side of the ankle connecting rod 51; a foot plate adapter 54 is provided at the lower end of the ankle connecting rod 51, the ankle cross shaft member 50 is connected to the foot plate adapter 54, and the foot plate adapter 54 is fixed above the foot plate assembly 36.

[0071] Specifically, the knee joint drive motor 33 is connected through the knee joint passive end structural member 44 and the knee joint power output structural member 43, and the knee joint drive motor 33 drives the calf structural member 45 to swing back and forth through the knee joint power output structural member 43. The first ankle joint drive motor 46 drives the ankle joint assembly 35 to swing through the first rocker arm swing member 48, and the second ankle joint drive motor 47 drives the ankle joint assembly 35 to swing through the second rocker arm swing member 49. Among them, the lower parts of the first rocker arm swing member 48 and the second rocker arm swing member 49 swing relative to the ankle connecting rod 51, and the calf structural member 45 swings relative to the ankle cross shaft member 50. When the first ankle joint drive motor 46 drives the first rocker arm swing member 48 and the second ankle joint drive motor 47 drives the second rocker arm swing member 49 in the same direction, the ankle cross shaft member 50 performs a forward swing movement relative to the calf structural member 45. When the first ankle joint drive motor 46 drives the first rocker arm swing member 48 and the second ankle joint drive motor 47 drives the second rocker arm swing member 49 in the opposite direction, the ankle cross shaft member 50 performs a side swing movement relative to the calf structural member 45. Among them, the ankle joint assembly 35 can drive the foot plate assembly 36 to perform corresponding forward swing and side movements.

[0072] In summary, the present utility model is provided with a head mechanism 1, a torso mechanism 2, a left arm mechanism 3, a right arm mechanism 4, a hip mechanism 5, a left leg mechanism 6 and a right leg mechanism 7; the drive motors of the head mechanism 1, the torso mechanism 2, the left arm mechanism 3, the right arm mechanism 4, the hip mechanism 5, the left leg mechanism 6 and the right leg mechanism 7 are all powered by a battery pack 10, and at the same time, the actions of the head mechanism 1, the torso mechanism 2, the left arm mechanism 3, the right arm mechanism 4, the hip mechanism 5, the left leg mechanism 6 and the right leg mechanism 7 are controlled by a main controller 9, so as to realize the rotation and pitching movements of the head mechanism 1 relative to the torso mechanism 2, the rotation movement of the left arm mechanism 3 relative to the torso mechanism 2, the pitching movement of the left arm mechanism 3 relative to the torso mechanism 2, the rotation of the upper arm of the left arm mechanism 3 and the forward swing of the elbow of the left arm mechanism 3; the rotation movement of the right arm mechanism 4 relative to the torso mechanism 2, the pitching movement of the right arm mechanism 4 relative to the torso mechanism 2, the rotation of the upper arm of the right arm mechanism 4 and the forward swing of the elbow of the right arm mechanism 4; the rotation movement of the hip mechanism 5 relative to the torso mechanism 2; the forward swing, side swing, rotation, knee forward swing, ankle forward swing and ankle side swing movements of the left leg mechanism 6; the forward swing, side swing, rotation, knee forward swing, ankle forward swing and ankle side swing movements of the right leg mechanism 7. A binocular camera 11 is installed at the top of the head mechanism 1, and the rotation and pitching movements of the binocular camera 11 on the head can be realized through a head rotation drive motor 13 and a head pitching drive motor 12. Among them, the head rotation drive motor 13 that controls the rotation of the binocular camera 11 is fixed inside the torso frame 8 of the torso mechanism 2, the output flange of the head rotation drive motor 13 is connected to the fixed end of the head pitching drive motor 12 that controls the pitching of the binocular camera 11, and the output flange of the head pitching drive motor 12 that controls the pitching of the binocular camera 11 is connected to the camera mounting assembly to realize the movement of the binocular camera 11. The left arm rotation drive motor 14 inside the torso frame 8 can drive the left arm pitching drive motor 15, the left upper arm 16, the left elbow rotation drive motor 17, the left elbow swing drive motor 18 and the left lower arm 19 to rotate, the left arm pitching drive motor 15 can drive the left upper arm 16, the left elbow rotation drive motor 17, the left elbow swing drive motor 18 and the left lower arm 19 to pitch, the left elbow rotation drive motor 17 can drive the left elbow swing drive motor 18 and the left lower arm 19 to rotate, and the left elbow swing drive motor 18 can drive the left lower arm 19 to swing. The right arm rotation drive motor 20 inside the torso frame 8 can drive the right arm pitching drive motor 21, the right upper arm 22, the right elbow rotation drive motor 23, the right elbow swing drive motor 24 and the right lower arm 25 to rotate, the right arm pitching drive motor 21 can drive the right upper arm 22, the right elbow rotation drive motor 23, the right elbow swing drive motor 24 and the right lower arm 25 to pitch, the right elbow rotation drive motor 23 can drive the right elbow swing drive motor 24 and the right lower arm 25 to rotate, and the right elbow swing drive motor 24 can drive the right lower arm 25 to swing.The waist rotation drive motor 26 can drive the hip structure member 27 to rotate through the hip flange 28. The left leg swing drive motor 29 inside the hip structure member 27 can drive the entire left leg mechanism 6 to swing. The right leg swing drive motor 30 inside the hip structure member 27 can drive the entire right leg mechanism 7 to swing. Among them, for the left leg swing drive motor 29 and the right leg swing drive motor 30, a clamping structure member can be connected to the hip structure member 27, and the clamping structure member fixes the left leg swing drive motor 29 and the right leg swing drive motor 30 inside the hip structure member 27 through bolts. The hip mechanism 5 drives the cross-leg drive assembly 31 to swing through the leg swing drive motor, and the cross-leg drive motor 37 of the cross-leg drive assembly 31 can drive the thigh assembly 32 and the calf assembly 34 to move laterally. The cross-leg drive motor 37 is fixed through the cross-swing output structure member 38 and the cross-swing passive end structure member 39, and power is output through the cross-swing output structure member 38. The leg rotation drive motor 40 can drive the leg rotation power output structure member 42 between the cross-swing output structure member 38 and the cross-swing passive end structure member 39 to rotate, thereby driving the leg extension member 41, the knee joint drive motor 33 and the lower calf assembly 34 as a whole to rotate. Among them, the knee joint drive motor 33 can drive the calf assembly 34 to swing back and forth. The knee joint drive motor 33 is fixed through the knee joint passive end structure member 44 and the knee joint power output structure member 43, and the knee joint drive motor 33 drives the calf structure member 45 to swing back and forth through the knee joint power output structure member 43. The first ankle drive motor 46 drives the ankle assembly 35 to swing through the first rocker swing member 48, and the second ankle drive motor 47 drives the ankle assembly 35 to swing through the second rocker swing member 49. Among them, the lower parts of the first rocker swing member 48 and the second rocker swing member 49 swing relative to the ankle connecting rod 51, and the calf structure member 45 swings relative to the ankle cross-axis member 50. When the first ankle drive motor 46 drives the first rocker swing member 48 and the second ankle drive motor 47 drives the second rocker swing member 49 in the same direction, the ankle cross-axis member 50 performs a forward swing movement relative to the calf structure member 45. When the first ankle drive motor 46 drives the first rocker swing member 48 and the second ankle drive motor 47 drives the second rocker swing member 49 in the opposite direction, the ankle cross-axis member 50 performs a side swing movement relative to the calf structure member 45. Among them, the ankle assembly 35 can drive the foot plate assembly 36 to perform corresponding forward swing and side movements. The overall layout of the structure of the present utility model has strong compactness and high joint integration, can realize a large movement range of the robot, and increases flexibility and versatility.

[0073] Although the present utility model has been described in detail above with general descriptions and specific embodiments, based on the present utility model, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present utility model all fall within the scope of protection required by the present utility model.

Claims

1. A highly flexible simulation robot, characterized in that, It includes a head mechanism (1), a torso mechanism (2), a left arm mechanism (3), a right arm mechanism (4), a hip mechanism (5), a left leg mechanism (6) and a right leg mechanism (7); The head mechanism (1) is connected to the upper end of the torso mechanism (2). The head mechanism (1) has 2 degrees of freedom of movement: the head mechanism (1) rotates and pitches relative to the torso mechanism (2); The left arm mechanism (3) is connected to the left side of the torso mechanism (2). The left arm mechanism (3) has 4 degrees of freedom of movement: the left arm mechanism (3) rotates relative to the torso mechanism (2), the left arm mechanism (3) pitches relative to the torso mechanism (2), the upper arm of the left arm mechanism (3) rotates, and the elbow of the left arm mechanism (3) swings forward; The right arm mechanism (4) is connected to the right side of the torso mechanism (2). The right arm mechanism (4) has 4 degrees of freedom of movement: the right arm mechanism (4) rotates relative to the torso mechanism (2), the right arm mechanism (4) pitches relative to the torso mechanism (2), the upper arm of the right arm mechanism (4) rotates, and the elbow of the right arm mechanism (4) swings forward; The hip mechanism (5) is connected to the lower end of the torso mechanism (2). The hip mechanism (5) has 1 degree of freedom of movement: the hip mechanism (5) rotates relative to the torso mechanism (2); The left leg mechanism (6) is connected to the left side of the hip mechanism (5). The left leg mechanism (6) has 6 degrees of freedom of movement: the left leg mechanism (6) swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally; The right leg mechanism (7) is connected to the right side of the hip mechanism (5). The right leg mechanism (7) has 6 degrees of freedom of movement: the right leg mechanism (7) swings forward, swings laterally, rotates, the knee swings forward, the ankle swings forward, and the ankle swings laterally.

2. The highly flexible simulation robot according to claim 1, characterized in that, The torso mechanism (2) includes a torso frame (8). A main controller (9) and a battery pack (10) are provided inside the torso frame (8); the drive motors of the head mechanism (1), the torso mechanism (2), the left arm mechanism (3), the right arm mechanism (4), the hip mechanism (5), the left leg mechanism (6), and the right leg mechanism (7) are all electrically connected to the main controller (9), and the battery pack (10) is electrically connected to the main controller (9).

3. A highly flexible simulation robot according to claim 2, characterized in that, The head mechanism (1) includes a binocular camera (11). A head pitch drive motor (12) is connected to the lower end of the binocular camera (11); a head rotation drive motor (13) is connected to the lower end of the head pitch drive motor (12), and the head rotation drive motor (13) is arranged inside the torso frame (8) of the torso mechanism (2).

4. A highly flexible simulation robot according to claim 2, characterized in that The left arm mechanism (3) includes a left arm rotation drive motor (14), a left arm pitch drive motor (15), a left upper arm (16), a left elbow rotation drive motor (17), a left elbow swing drive motor (18) and a left lower arm (19); The left arm rotation drive motor (14) is inside the torso frame (8), and the power output end of the left arm rotation drive motor (14) is connected to the left arm pitching drive motor (15); the power output end of the left arm pitching drive motor (15) is connected to one end of the left upper arm (16); the left elbow rotation drive motor (17) is inside the left upper arm (16), and the power output end of the left elbow rotation drive motor (17) is connected to the left elbow swing drive motor (18); the power output end of the left elbow swing drive motor (18) is connected to the other end of the left upper arm (16), and the left lower arm (19) is connected to the side of the left elbow swing drive motor (18).

5. A highly flexible simulation robot according to claim 2, characterized in that, The right arm mechanism (4) includes a right arm rotation drive motor (20), a right arm pitching drive motor (21), a right upper arm (22), a right elbow rotation drive motor (23), a right elbow swing drive motor (24), and a right lower arm (25); The right arm rotation drive motor (20) is inside the torso frame (8), and the power output end of the right arm rotation drive motor (20) is connected to the right arm pitching drive motor (21); the power output end of the right arm pitching drive motor (21) is connected to one end of the right upper arm (22); the right elbow rotation drive motor (23) is inside the right upper arm (22), and the power output end of the right elbow rotation drive motor (23) is connected to the right elbow swing drive motor (24); the power output end of the right elbow swing drive motor (24) is connected to the other end of the right upper arm (22), and the right lower arm (25) is connected to the side of the right elbow swing drive motor (24).

6. The highly flexible simulation robot according to claim 2, characterized in that, The hip mechanism (5) includes a waist rotation drive motor (26), a hip structural member (27), a hip flange (28), a left leg swing drive motor (29), and a right leg swing drive motor (30); The upper part of the waist rotation drive motor (26) is fixedly connected to the lower end of the torso frame (8), and the power output end of the waist rotation drive motor (26) is connected to the hip structural member (27) through the hip flange (28); The left leg swing drive motor (29) is arranged on the left side inside the hip structural member (27), and the hip mechanism (5) is connected to the left leg mechanism (6) through the left leg swing drive motor (29); The right leg swing drive motor (30) is arranged on the right side inside the hip structural member (27), and the hip mechanism (5) is connected to the right leg mechanism (7) through the right leg swing drive motor (30).

7. A highly flexible simulation robot according to claim 6, characterized in that, The left leg mechanism (6) and the right leg mechanism (7) both include a cross-leg drive assembly (31), a thigh assembly (32), a knee joint drive motor (33), a calf assembly (34), an ankle assembly (35), and a foot plate assembly (36); The hip mechanism (5) is connected to the cross-leg drive assembly (31) through a leg swing drive motor; the upper end of the thigh assembly (32) is connected to the power output end of the cross-leg drive assembly (31); the lower end of the thigh assembly (32) is connected to the knee joint drive motor (33), the power output end of the knee joint drive motor (33) is connected to the upper end of the calf assembly (34), the lower end of the calf assembly (34) is connected to the ankle assembly (35), and the ankle assembly (35) is connected to the foot plate assembly (36).

8. A highly flexible simulation robot according to claim 7, characterized in that, The cross-leg drive assembly (31) includes a cross-leg drive motor (37), and the thigh assembly (32) includes a cross-swing output structural member (38), a cross-swing passive end structural member (39), a leg rotation drive motor (40), and a leg extension member (41); the power output end of the cross-leg drive motor (37) is connected to the cross-swing output structural member (38), and the other end of the cross-leg drive motor (37) is connected to the cross-swing passive end structural member (39); A leg rotation power output structural member (42) is provided between the cross-swing output structural member (38) and the cross-swing passive end structural member (39), and the power output end of the leg rotation drive motor (40) is connected to the leg rotation power output structural member (42); the lower end of the leg rotation drive motor (40) is connected to the leg extension member (41).

9. The highly flexible simulation robot according to claim 8, characterized in that, The calf assembly (34) includes a knee joint power output structural member (43), a knee joint passive end structural member (44), a calf structural member (45), a first ankle drive motor (46), a second ankle drive motor (47), a first rocker swing member (48), and a second rocker swing member (49); the ankle assembly (35) includes an ankle cross shaft member (50) and an ankle connecting rod (51); The power output end of the knee joint drive motor (33) is connected to the knee joint power output structural member (43), and the other end of the knee joint drive motor (33) is connected to the knee joint passive end structural member (44); the upper part of the calf structural member (45) is connected between the lower part of the knee joint power output structural member (43) and the lower part of the knee joint passive end structural member (44), the lower part of the calf structural member (45) is connected to the ankle cross shaft member (50), and the ankle cross shaft member (50) is fixed above the foot plate assembly (36); The calf structural member (45) is formed with a first motor mounting position (52) and a second motor mounting position (53); the first ankle driving motor (46) is fixed at the first motor mounting position (52), the power output end of the first ankle driving motor (46) is connected to the upper part of the first rocker swing member (48), and the lower part of the first rocker swing member (48) is connected to one side of the ankle connecting rod (51); the second ankle driving motor (47) is fixed at the second motor mounting position (53), the power output end of the second ankle driving motor (47) is connected to the upper part of the second rocker swing member (49), and the lower part of the second rocker swing member (49) is connected to the other side of the ankle connecting rod (51).

10. A highly flexible simulation robot according to claim 9, characterized in that, A foot plate adapter (54) is provided at the lower end of the ankle connecting rod (51), the ankle cross shaft member (50) is connected to the foot plate adapter (54), and the foot plate adapter (54) is fixed above the foot plate assembly (36).

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