Robot

Abstract

The utility model relates to a robot, the robot comprises a manipulator and at least more than three legs, any two legs can move relatively, the manipulator comprises a palm and a plurality of fingers, the palm is connected with the plurality of fingers, and any two fingers can move relatively. The object obtaining capacity of the robot with the multiple legs is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot. BACKGROUND

[0002] In the related art, a multi-legged robot is a robot with multiple leg parts, which has good adaptability and maneuverability on uneven, complex or even extremely rugged terrains. However, the robot has weak ability to obtain objects. CONTENT

[0003] Embodiments of the present application provide a robot, which aims to improve the ability of a robot with multiple leg parts to obtain objects.

[0004] In order to achieve the above-mentioned purpose, according to a first aspect of the present application, a robot is provided, comprising:

[0005] at least three or more leg parts, any two of which can move relative to each other; and

[0006] a mechanical hand, comprising a palm and multiple fingers, the palm being connected to the multiple fingers, and any two of the fingers being capable of moving relative to each other.

[0007] Optionally, at least one of the fingers comprises a first rotating member, a second rotating member and a finger body, the first rotating member being rotationally connected to the palm, the first rotating member being connected to the finger body through the second rotating member, and the rotation axis of the first rotating member intersecting the rotation axis of the second rotating member.

[0008] Optionally, the mechanical hand further comprises a driving module, the driving module being drivingly connected to the multiple fingers, and the driving module being arranged in the palm.

[0009] Optionally, the robot comprises multiple mechanical arms, the mechanical hand is provided in multiple, one of the mechanical hands being connected to one of the mechanical arms, and any two of the mechanical arms being capable of moving relative to each other.

[0010] Optionally, the mechanical arm comprises multiple first joint motors and multiple joint connecting members, adjacent two of the joint connecting members being connected through one of the first joint motors, and the joint connecting member located at the distal end of the mechanical arm being connected to the corresponding mechanical hand.

[0011] And / or, the size range between the distal end of the mechanical hand and the proximal end of the mechanical arm is 600mm to 800mm.

[0012] Optionally, the output shafts of at least two of the first joint motors on the same mechanical arm are different in axial direction.

[0013] Optionally, the leg comprises a thigh, a shank, and a second joint motor, the thigh is rotationally connected with the shank, and the second joint motor is configured to drive the thigh and the shank to rotate relative to each other.

[0014] Optionally, the second joint motor is arranged on the thigh.

[0015] Optionally, the leg further comprises a transmission belt, the transmission belt is connected with the shank and the output shaft of the second joint motor respectively.

[0016] Optionally, the robot further comprises a body, the leg further comprises a third joint motor and a fourth joint motor, the thigh is connected with the fourth joint motor through the third joint motor, the third joint motor is connected with the body through the fourth joint motor, and the axis of the output shaft of the third joint motor and the axis of the output shaft of the fourth joint motor intersect.

[0017] Optionally, the extension direction of the output shaft of the third joint motor is consistent with the extension direction of the output shaft of the second joint motor.

[0018] In the robot of the embodiment of the present application, the mechanical hand of the robot comprises a palm and a plurality of fingers, the palm is connected with the plurality of fingers, and any two of the plurality of fingers can move relative to each other, which makes the flexibility of the mechanical hand higher and enables the mechanical hand to imitate the human hand. The plurality of fingers can cooperate with each other to grasp an object, and the plurality of fingers can also cooperate with the palm to grasp an object. In this way, the ability of the robot to obtain an object is improved.

[0019] For the robot with three or more legs, the robot has stronger obstacle crossing ability, and the robot can cross an obstacle by adjusting the gait. The plurality of legs makes the contact area of the robot with the ground larger, which is beneficial to improve the static stability and dynamic stability of the robot, so that the robot is less likely to fall. In addition, the requirement of the robot for precision control is also reduced, so that the robot can prevent falling without relying on a highly precise balance control algorithm.

[0020] In this way, the ability of the robot with a plurality of legs to obtain an object is improved.

[0021] Other features and advantages of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0023] For a more complete understanding of the present application and the advantages thereof, reference is now made to the following descriptions taken in connection with the accompanying drawings in which:

[0024] Figure 1 is a schematic diagram of the overall structure of a robot provided in an example embodiment of the present disclosure.

[0025] Figure 2 is a schematic diagram of the overall structure of a robot provided in an example embodiment of the present disclosure. Figure 1 is a schematic diagram of the partial structure of a robot in the example embodiment;

[0026] Figure 3 is a schematic diagram of the partial structure of a robot in the example embodiment; Figure 1 is a schematic diagram of the structure of a robot arm in the example embodiment;

[0027] Figure 4 is a schematic diagram of the structure of a robot arm in the example embodiment; Figure 1 is a schematic diagram of the structure of a robot arm in the example embodiment;

[0028] Figure 5 is a schematic diagram of the structure of a robot arm in the example embodiment; Figure 1 is a schematic diagram of the structure of a robot arm in the example embodiment.

[0029] Explanation of Reference Signs:

[0030] 100, robot; 200, body; 300, robot arm; 310, first joint motor; 320, joint connecting member; 400, robot hand; 410, palm; 420, finger; 430, first rotating member; 440, second rotating member; 450, finger body; 500, leg; 510, thigh; 520, shank; 530, second joint motor; 540, third joint motor; 550, fourth joint motor; 560, transmission belt; 570, buffer pad. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0032] In the related art, robots are used to carry objects. Robots gradually become an important part of factory work due to their efficient and stable work capacity.

[0033] According to a first aspect of the present application, with reference to Figures 1 to 5The robot 100 provided by the present disclosure comprises at least three leg portions 500, and any two leg portions 500 can move relative to each other. This makes the robot 100 have strong obstacle crossing ability, and the robot 100 can cross obstacles by adjusting the gait. The plurality of leg portions 500 makes the robot 100 have a large contact area with the ground, which is beneficial to improve the static stability and dynamic stability of the robot 100, so that the robot 100 is not easy to fall. In addition, the requirement of the robot 100 for precision control is also reduced, so that the robot 100 can prevent falling without relying on a highly precise balance control algorithm.

[0034] The robot 100 further comprises a mechanical hand 400. The mechanical hand 400 comprises a palm 410 and a plurality of fingers 420, and any two fingers 420 can move relative to each other. In this way, the flexibility of the mechanical hand 400 is high, so that the mechanical hand 400 can imitate the human hand. The plurality of fingers 420 of the mechanical hand 400 can cooperate with each other to achieve the grasping of objects, and the plurality of fingers 420 can also cooperate with the palm 410 to grasp objects. In this way, the ability of the robot 100 to obtain objects is improved.

[0035] In this way, the ability of the robot 100 with a plurality of leg portions to obtain objects is improved.

[0036] Exemplarily, the leg portions 500 are provided with four, and two of the leg portions 500 can be used as the front legs of the robot 100, and the other two leg portions 500 can be used as the rear legs of the robot 100.

[0037] Optionally, in some embodiments, at least one finger 420 comprises a first rotating member 430, a second rotating member 440, and a finger body 450, the first rotating member 430 is rotationally connected with the palm 410, the first rotating member 430 is connected with the finger body 450 through the second rotating member 440, and the rotation axis of the first rotating member 430 intersects with the rotation axis of the second rotating member 440. In this way, at least one finger 420 has at least two degrees of freedom. In this way, the flexibility of the mechanical hand 400 is improved, so that the mechanical hand 400 is easier to grasp objects.

[0038] Exemplarily, the number of the fingers 420 is five, and the multiple fingers 420 include a thumb, an index finger, a middle finger, a ring finger and a little finger. In this way, the mechanical hand 400 is closer to the human hand, which is conducive to improving the flexibility of the mechanical hand 400. The thumb includes a first rotating member 430, a second rotating member 440 and a finger body 450, the first rotating member 430 is rotationally connected with the palm 410, the first rotating member 430 is connected with the finger body 450 through the second rotating member 440, and the rotation axis of the first rotating member 430 intersects with the rotation axis of the second rotating member 440. In this way, the thumb has at least two degrees of freedom of rotation, the rotation axis of the first rotating member 430 extends along the length direction of the palm 410, and the rotation axis of the second rotating member 440 extends along the width direction of the palm 410, so that the mechanical hand 400 is closer to the flexibility of the human hand. In this way, the flexibility of the mechanical hand 400 is improved, and the mechanical hand 400 is more likely to grasp the object. Here, the first finger 420 refers to any one of the index finger, the middle finger, the ring finger and the little finger, and the first finger 420 includes a proximal phalanx, a middle phalanx and a distal phalanx. The distal phalanx, the middle phalanx, the proximal phalanx and the palm 410 are sequentially connected. The distal phalanx and the middle phalanx can be rotationally connected, so that the distal phalanx can be close to and away from the palm 410. The middle phalanx and the proximal phalanx can also be rotationally connected, so that the distal phalanx can be close to and away from the palm 410. The proximal phalanx and the palm 410 can also be rotationally connected, so that the distal phalanx can be close to and away from the palm 410. This makes the mechanical hand 400 closer to the flexibility of the human hand, and the mechanical hand 400 is more likely to grasp the object.

[0039] Optionally, in some embodiments, the mechanical hand 400 further includes a driving module, the driving module is drivingly connected with the multiple fingers 420, and the driving module is arranged in the palm 410. In this way, the robot 100 makes full use of the space in the palm 410, which is conducive to realizing the miniaturization of the mechanical hand 400. In addition, the palm 410 also protects the driving module, and reduces the damage of external objects to the driving module.

[0040] It is worth mentioning that the connection mode of the driving module and the multiple fingers 420 can refer to, but is not limited to, the related art, which is not limited herein, as long as the driving module can drive any two fingers 420 to move relative to each other. The driving module can include multiple motors, but is not limited thereto.

[0041] Optionally, in some embodiments, the robot 100 comprises a plurality of mechanical arms 300, and a plurality of mechanical hands 400 are provided, one of the mechanical hands 400 is connected to one of the mechanical arms 300, and any two of the mechanical arms 300 can move relative to each other. In this way, the flexibility of the mechanical arms 300 of the robot 100 is closer to that of the human arms, which makes the plurality of mechanical hands 400 work together to carry objects. In this way, the robot 100 can carry objects in a larger size range. In addition, the plurality of mechanical hands 400 is beneficial to improve the number of objects that the robot 100 can grasp at a time, and is beneficial to improve the efficiency of the robot 100 in carrying objects.

[0042] Optionally, in some embodiments, the mechanical arm 300 comprises a plurality of first joint motors 310 and a plurality of joint connecting members 320, and two adjacent joint connecting members 320 are connected by a first joint motor 310. The joint connecting member 320 at the distal end of the mechanical arm 300 is connected to the corresponding mechanical hand 400. In this way, the mechanical arm 300 has a plurality of degrees of freedom, which makes the mechanical arm 300 more flexible.

[0043] Illustratively, the number of first joint motors 310 can be set to six, and the number of joint connecting members 320 can be set to seven. The joint connecting member 320 at the proximal end of the mechanical arm 300 can be used as the shoulder of the mechanical arm 300, and the length direction of the shoulder is different from that of the remaining joint connecting members 320.

[0044] Optionally, in some embodiments, the size range between the distal end of the mechanical hand 400 and the proximal end of the mechanical arm 300 is 600mm to 800mm. In this way, the overall longest size of the mechanical hand 400 and the mechanical arm 300 is close to that of the human hand and arm, so that the size of the mechanical hand 400 and the mechanical arm 300 of the robot 100 is close to that of the human hand and arm, making it easier for the robot 100 to replace human work. Illustratively, the size between the distal end of the mechanical hand 400 and the proximal end of the mechanical arm 300 can be, but is not limited to, 650mm, 700mm or 750mm.

[0045] Optionally, in some embodiments, the output shafts of at least two first joint motors 310 on the same mechanical arm 300 have different axial directions. In this way, it is beneficial to further improve the flexibility of the mechanical arm 300. Illustratively, one of the first joint motors 310 is connected to each of the opposite ends of one of the joint connecting members 320, and the output shaft of one of the first joint motors 310 has an axial direction that is the length direction of the joint connecting member 320, and the output shaft of the other first joint motor 310 has an axial direction that is perpendicular to that of the output shaft of the first joint motor 310.

[0046] Optionally, in some embodiments, the leg 500 comprises a thigh 510, a shank 520, and a second joint motor 530, the thigh 510 is rotatably connected with the shank 520, and the second joint motor 530 is configured to drive the thigh 510 and the shank 520 to rotate relative to each other. In this way, the activity of the leg 500 can be improved, and the robot 100 can have more gaits.

[0047] Optionally, in some embodiments, the second joint motor 530 is arranged on the thigh 510. In this way, the shank 520 is lighter, which can reduce the burden of the second joint motor 530. In addition, the shank 520 is lighter, so that the center of gravity of the robot 100 does not change too much when the leg 500 is running. In this way, the difficulty of keeping the robot 100 in dynamic balance can be reduced. For example, the second joint motor 530 is arranged at the distal end of the leg 500. However, the design is not limited to this, and in some other embodiments, the second joint motor 530 can also be arranged on the shank 520 according to actual needs.

[0048] Optionally, in some embodiments, the leg 500 further comprises a transmission belt 560, and the transmission belt 560 is connected with the shank 520 and the output shaft of the second joint motor 530, respectively. First, the difficulty of connecting the transmission belt 560 with the shank 520 and the output shaft of the second joint motor 530 is low, which is convenient for assembling the robot 100. Second, when the shank 520 rotates relative to the thigh 510, the leg 500 generates less noise, so that the robot 100 is suitable for low-noise environment applications. However, the design is not limited to this, and in some other embodiments, the leg 500 further comprises a transmission gear set, and the output shaft of the second joint motor 530 is connected with the shank 520 through the transmission gear set to drive the shank 520 to rotate relative to the thigh 510.

[0049] Optionally, in some embodiments, the robot 100 further comprises a body 200, and the leg 500 further comprises a third joint motor 540 and a fourth joint motor 550, the thigh 510 is connected with the fourth joint motor 550 through the third joint motor 540, the third joint motor 540 is connected with the body 200 through the fourth joint motor 550, and the axis of the output shaft of the third joint motor 540 and the axis of the output shaft of the fourth joint motor 550 intersect. In this way, the flexibility of the leg 500 can be improved, and the leg 500 of the robot 100 is closer to the human leg 500. For example, the third joint motor 540 can control the leg 500 to swing forward and backward relative to the body 200, and the fourth joint motor 550 can control the leg 500 to swing left and right relative to the body 200.

[0050] Optionally, in an embodiment, the body 200 is further connected with the mechanical arm 300 through the mechanical arm 300.

[0051] Optionally, in some embodiments, the extension direction of the output shaft of the third joint motor 540 is consistent with the extension direction of the output shaft of the second joint motor 530. This makes the degrees of freedom of the robot 100's legs 500 closer to those of a human leg 500, enabling the robot 100 to more easily replace human workers.

[0052] Optionally, in some embodiments, a cushioning pad 570 is provided at the distal end of the lower leg 520. Thus, the cushioning pad 570 can absorb impact forces from the ground, improving the adaptability and stability of the robot 100 on the one hand, and reducing the possibility of structural damage to the robot 100 on the other, thereby extending the service life of the robot 100. The material of the cushioning pad 570 may be, but is not limited to, plastic.

[0053] Optionally, in some embodiments, the leg 500 also includes a torque sensor. Thus, the robot 100 can control the leg 500 based on the feedback torque information to ensure dynamic control and multi-terrain adaptability of the robot 100.

[0054] Optionally, in some embodiments, the robotic arm 400 also includes tactile sensors. This enables the robot 100 to perceive and adapt to the shape, size, and material properties of objects when performing fine manipulations.

[0055] Optionally, in some embodiments, robot 100 further includes at least one of a wireless communication module, a camera, a lidar, an inertial measurement unit, a tactile sensor, and a temperature sensor. The wireless communication module allows robot 100 to reduce wiring constraints. The camera and lidar enable robot 100 to avoid obstacles. The inertial measurement unit makes robot 100's movement more stable. The lidar and temperature sensor allow robot 100 to sense the object being transported.

[0056] For example, robot 100 receives instructions to move items via a wireless communication module. Robot 100 sets the pick-up and placement positions via a control system, and autonomously moves to the pick-up position using motion planning algorithms and an environmental perception system. During movement, robot 100 can autonomously avoid obstacles, stably traverse complex terrain environments, and safely navigate high-risk environments.

[0057] When the robot 100 reaches the picking position, the legs 500 of the robot 100 remain stable and stationary. The environmental perception system determines the type and weight of the workpiece and the controller gives the posture of the legs 500 when picking up the workpiece, so as to ensure the stability and safety of the robot 100 when picking up the workpiece.

[0058] After the robot 100 leg 500 assumes the picking posture, the robot 100 mechanical arm 300 and the mechanical hand 400 pick up the workpiece. When the robot 100 picks up the workpiece, the mechanical hand 400 senses the shape, size and material properties of the workpiece, and the controller gives a picking strategy to realize fine operation, so as to ensure that the robot 100 does not cause damage to the workpiece when picking up the workpiece, and to ensure the safety of the workpiece;

[0059] When the robot 100 picks up the workpiece, the center of gravity changes, and the environmental perception system and the controller determine the picking process posture and the running posture after picking up of the robot 100, so as to ensure the stability and safety of the robot 100 and the workpiece;

[0060] After the posture adjustment of the robot 100 is completed, the robot 100 moves to the workpiece placing position again through the motion planning algorithm and the environmental perception system, and places the workpiece. During the placing process, the posture of the robot 100 is adjusted in time according to the real-time change of the center of gravity of the robot 100. The environmental perception system includes a wireless communication module, a camera, a laser radar, an inertial measurement unit, a touch sensor and a temperature sensor.

[0061] In the description of the present application, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0062] In the above embodiments, the description of each embodiment is focused on, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0063] The embodiments, implementation manners and related technical features of the present application can be combined and replaced with each other without conflict.

[0064] The above is only the preferred embodiment of the present application, and does not limit the present application in any form. Any simple modification, equivalent change and modification made on the basis of the technical essence of the present application to the above embodiments, without departing from the technical solution of the present application, still belongs to the scope of the technical solution of the present application.

Claims

1. A robot, characterized in that, The robot comprises: at least three leg portions, any two of which are relatively movable; and a mechanical hand comprising a palm and a plurality of fingers, the palm being connected to the plurality of fingers, any two of which are relatively movable.

2. The robot of claim 1, wherein, At least one of the fingers comprises a first rotating member, a second rotating member and a finger body, the first rotating member being rotationally connected to the palm, the first rotating member being connected to the finger body through the second rotating member, the rotation axis of the first rotating member intersecting the rotation axis of the second rotating member.

3. The robot of claim 1, wherein, The mechanical hand further comprises a driving module, the driving module being drivingly connected to the plurality of fingers, the driving module being arranged in the palm.

4. The robot of claim 1, wherein, The robot comprises a plurality of mechanical arms, the mechanical hand being provided in plurality, one of the mechanical hands being connected to one of the mechanical arms, any two of the mechanical arms being relatively movable.

5. The robot of claim 4, wherein, The mechanical arm comprises a plurality of first joint motors and a plurality of joint connecting members, adjacent two of the joint connecting members being connected through one of the first joint motors, the joint connecting member located at the distal end of the mechanical arm being connected to the corresponding mechanical hand. The distance between the distal end of the mechanical hand and the proximal end of the mechanical arm ranges from 600mm to 800mm.

6. The robot of claim 5, wherein, The output shafts of at least two of the first joint motors on the same mechanical arm are different in axial direction.

7. The robot of claim 1, wherein, The leg portion comprises a thigh, a calf and a second joint motor, the thigh being rotationally connected to the calf, the second joint motor being used to drive the thigh and the calf to rotate relatively.

8. The robot of claim 7, wherein, The second joint motor is arranged in the thigh. The leg portion further comprises a transmission belt, the transmission belt being connected to the output shaft of the second joint motor and the calf respectively.

9. The robot of claim 7, wherein, The robot further comprises a body, the leg portion further comprises a third joint motor and a fourth joint motor, the thigh being connected to the fourth joint motor through the third joint motor, the third joint motor being connected to the body through the fourth joint motor, the output shaft of the third joint motor intersecting the output shaft of the fourth joint motor in axial direction.

10. The robot of claim 9, wherein, The extension direction of the output shaft of the third joint motor is consistent with the extension direction of the output shaft of the second joint motor.

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