Humanoid quadruped robot

Abstract

A humanoid quadruped robot is composed of a robot head 1, a robot neck 2, a robot body 16, three robot arms, four robot legs, a waist joint piece 7, a thoracolumbar hip joint piece 22, a plurality of joint motors and auxiliary parts, and compared with an existing robot, the humanoid quadruped robot has the four differences that the robot head 1 is fixed to the robot neck 2, and a shell of the robot head 1 is made of a one-way light-transmitting material; one-way light transmission means that a visual device in the robot head 1 can see external scenes, external human eyes and the visual device cannot see internal parts, two positions are three robot arms, one robot arm is arranged at the chest position of the robot body 16, retracts when not used and stretches out when used, and three positions are that the robot body 16 rotates by 360 degrees at random at the waist joint position. Four machine legs with the same structure are arranged in four places, two machine legs fall to the ground and the other two machine legs are lifted up in the walking process, and the aim of walking is achieved through sequential circulation, so that walking balance and load bearing are facilitated.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of invention in the field of humanoid robot, in particular to a kind of humanoid four-legged robot similar to human appearance. BACKGROUND

[0002] The purpose of the design and use of humanoid robot is to replace human work in different occasions, and the existing robots mainly have two kinds, one is similar to human appearance, including skin, facial features, etc., mainly imitating human actions, voice, walking and standing actions, etc., but in practical aspect, it cannot ideally replace human work, the other is different from human appearance, but can use human tools and equipment to replace some human work, also has some shortcomings, the main reason is that the center of gravity of robot is on the upper, the existing technology cannot achieve the balance ability and load capacity of human, in some aspects, four-legged robot is used to complete, four-legged robot is also called robot dog, the shortcoming is no mechanical arm, cannot replace the work completed by human arm, the robot replacing human arm work is mostly fixed and wheel sliding, in the practical application of robot, a powerful and very practical humanoid robot is urgently needed. SUMMARY

[0003] The humanoid four-legged robot is similar to human appearance, and different parts thereon correspond to different parts on human body, the robot head in the utility model corresponds to the head of human body, the robot neck corresponds to the neck of human body, the robot trunk corresponds to the trunk of human body, the robot trunk includes robot shoulder, robot chest, robot waist and robot basin, the robot shoulder corresponds to the shoulder of human body, the robot chest corresponds to the chest of human body, the robot waist corresponds to the waist of human body, the robot arm corresponds to the arm of human body, and the robot leg corresponds to the leg of human body, the robot arm is composed of robot upper arm, robot lower arm and robot hand, the robot leg is composed of robot thigh, robot shank and robot foot, the neck-shoulder joint is the connecting joint between robot neck and robot shoulder, the shoulder joint is the connecting joint between robot upper arm and robot shoulder, the elbow joint is the connecting joint between robot upper arm and robot lower arm, the wrist joint is the connecting joint between robot lower arm and robot hand, the hip joint is the connecting joint between the basin of robot trunk and robot leg, the knee joint is the connecting joint between robot thigh and robot shank, the ankle joint is the connecting joint between robot shank and robot foot, and the chest joint is the connecting joint between the chest of robot trunk and the chest-lumbar-hip joint piece, and the waist joint is the connecting joint between the waist of robot trunk and the chest-lumbar-hip joint piece.

[0004] The humanoid quadruped robot has two robot arms on the same structure and installation position as the robot arms of the existing robot, which are described as a first robot arm and a second robot arm, respectively, and there are four different sides of front, back, left and right in the description of the existing robot, there are two different walking directions of forward and backward, and there are two states of left turn and right turn in the walking process, since the corresponding sides are the same in the utility model, the front, back, left and right cannot be used to describe, therefore, in the utility model, four different sides of the robot are described by using a first longitudinal side, a second longitudinal side, a first lateral side and a second lateral side, two different walking directions are described by using a first longitudinal walking and a second longitudinal walking, and two states in the walking process are described by using a 90-degree turn, the side of the first robot arm is the first lateral side, the side of the second robot arm is the second lateral side, the two sides without robot arms are the first longitudinal side and the second longitudinal side, respectively, and the walking in front of the first longitudinal side is the first longitudinal walking, and the walking in front of the second longitudinal side is the second longitudinal walking;

[0005] Since the rotating directions of the robot joints are different, in the utility model, three different rotating directions are described by using an X-axis direction, a Y-axis direction and a Z-axis direction, the X-axis direction refers to the horizontal rotation, the Y-axis direction refers to the rotation towards the first lateral direction and the second lateral direction, and the Z-axis direction refers to the rotation towards the first longitudinal direction and the second longitudinal direction.

[0006] The humanoid quadruped robot has four machine legs with the same structure, the four machine legs are a first machine leg, a second machine leg, a third machine leg and a fourth machine leg, the first machine leg and the fourth machine leg are on the first lateral side, each machine leg is composed of a machine thigh, a machine calf, a machine foot, an ankle joint part, a compression spring and an auxiliary component, and there are a pressure sensor, a control spring, a pressure control part and a joint motor in the machine calf;

[0007] The second machine leg and the third machine leg are on the second lateral side, the hip joint of the first machine leg and the hip joint of the fourth machine leg are on the same shaft, which is a first Z-axis direction hip joint shaft, the hip joint of the second machine leg and the hip joint of the third machine leg are on the same shaft, which is a second Z-axis direction hip joint shaft, the connection between the first Z-axis direction hip joint shaft and the Y-axis direction hip joint shaft is a first Y-axis direction hip joint, and the connection between the second Z-axis direction hip joint shaft and the Y-axis direction hip joint shaft is a second Y-axis direction hip joint.

[0008] The connection between the machine lower leg and the machine foot is an ankle joint, one end of the ankle joint is connected with the machine lower leg, which is an ankle joint controlled by a motor, the other end of the ankle joint is connected with the machine foot, which is a foot joint, the foot joint is not controlled by a motor and only serves as a connection, a compression spring is arranged on the ankle joint, the compression spring serves as a buffer between the machine foot and the machine lower leg, a pressure control part is arranged inside the machine lower leg, the pressure control part controls the pressure sensor through the control of the spring, the detection signal output by the pressure sensor and the detection signals output by the other three pressure sensors are jointly input into a signal comparison circuit, and the force bearing conditions of each machine leg are detected;

[0009] In addition to the first machine arm and the second machine arm, there is a third machine arm, the third machine arm is located at the chest of the machine trunk, the third machine arm is retracted into the chest of the machine trunk when not in use and is extended out when in use, and the extension direction can be towards the first longitudinal side direction or the second longitudinal side direction according to requirements.

[0010] In the standing state of the robot, the first Z axis and the second Z axis are on the same axis, and in the longitudinal walking state, the walking trajectories of the first machine leg and the fourth machine leg are on the same trajectory, and the walking trajectories of the second machine leg and the third machine leg are on the same trajectory.

[0011] The machine head is fixed on the machine neck, the shell of the machine head is made of one-way light transmission material, the one-way light transmission means that the internal visual device can see the whole scene outside through the shell, the human eye and the visual device cannot see the components inside the machine head through the shell, two rotating supports are installed in the machine head, the two supports are controlled by two motors respectively, the rotating angle of each support is 180 degrees, the two supports do not intersect with each other, and the visual device and a plurality of sensors with different functions are installed on the two supports respectively.

[0012] The connection joint between the chest-lumbar-hip joint part and the chest of the machine trunk is a chest joint, the chest joint is formed by connecting a spherical part on the chest-lumbar-hip joint part with a recess part on the chest of the machine trunk, the chest joint is a joint with Y-axis and Z-axis rotation, the waist joint is formed by rotating the waist joint part on the step on the chest-lumbar-hip joint part through the waist joint hole on the waist joint part, the rotating angle range of the waist joint is 360 degrees, the waist joint is an X-axis rotating joint, and the connection between the waist joint part and the machine trunk is four electric telescopic devices. BRIEF DESCRIPTION OF DRAWINGS

[0013] Fig. 1 is a marking diagram of the mechanical parts in the utility model.

[0014] Figure 2 is a joint motor annotation diagram in the utility model.

[0015] Figure 3 is a joint part annotation diagram in the utility model.

[0016] Figure 4 is a four machine legs component and joint motor annotation diagram in the utility model.

[0017] Figure 5 is a four machine legs joint part annotation diagram in the utility model.

[0018] Figure 6 is a waist joint piece and joint motor connection structure principle diagram in the utility model.

[0019] Figure 7 is a machine calf structure principle diagram in the utility model.

[0020] Figure 8 is a third machine arm and third machine arm front structure principle diagram in the utility model.

[0021] Figure 9 is a third machine arm and third machine arm side structure principle diagram in the utility model.

[0022] Figure 10 is a machine leg and hip joint connection structure principle diagram in the utility model.

[0023] Figure 11 is a chest waist hip joint piece and related component structure principle diagram in the utility model.

[0024] Figure 12 is a machine head structure principle diagram in the utility model.

[0025] Figure 13 is a 300 type motor structure principle diagram in the utility model.

[0026] Figure 14 is a longitudinal walking state principle diagram in the utility model.

[0027] Figure 15 is another longitudinal walking state principle diagram in the utility model.

[0028] Figure 16 is a machine leg control sequence principle diagram in the utility model longitudinal walking state.

[0029] Figure 17 is a machine leg control sequence principle diagram in the utility model 90 degree bending state.

[0030] Figure 18 is a machine leg control sequence principle diagram in the utility model stair climbing state.

[0031] Figure 19 is a machine leg control sequence principle diagram in the utility model stair descending state.

[0032] Figure Mechanical Part Labeling: Machine head 1, machine neck 2, first shoulder joint 3, first machine upper arm 4, first machine lower arm 5, first machine hand 6, waist joint 7, first Z-axis hip joint shaft 8, Y-axis hip joint shaft 9, first machine upper leg 10, first machine lower leg 11, first ankle joint 12, first compression spring 13, first machine foot 14, first bracket 15, machine torso 16, second shoulder joint 17, second machine upper arm 18, second machine lower arm 19, second machine hand 20, second Z-axis hip joint shaft 21, thoracolumbar hip joint 22, second machine upper leg 23, second machine lower leg 24, second ankle joint 25, second compression spring 26, second machine foot 27, third machine upper leg 58, third machine lower leg 59, third ankle joint 60, third compression spring 61, third machine foot 62, fourth machine upper leg 63, fourth machine lower leg 64, fourth ankle joint 65, fourth compression spring 66, fourth machine foot 67, pressure sensor 70, control spring 71, pressure control 72, third machine lower arm 73, third machine upper arm 74, first gear 76, second gear 78, third gear 80, fourth gear 82, auxiliary gear 83, and second bracket 85.

[0033] Figure Joint Motor Labeling: First motor 28, second motor 29, third motor 30, fourth motor 31, fifth motor 32, sixth motor 33, seventh motor 34, eighth motor 35, ninth motor 36, tenth motor 37, eleventh motor 38, twelfth motor 39, thirteenth motor 40, fourteenth motor 41, fifteenth motor 42, sixteenth motor 43, seventeenth motor 44, eighteenth motor 45, nineteenth motor 46, twentieth motor 47, twenty-first motor 48, twenty-second motor 49, twenty-third motor 50, twenty-fourth motor 51, twenty-fifth motor 52, twenty-sixth motor 53, twenty-seventh motor 54, twenty-eighth motor 55, twenty-ninth motor 56, thirtieth motor 57, thirty-first motor 68, thirty-second motor 69, and thirty-third motor 84.

[0034] Figure joint marker description: neck-shoulder joint 201, first Z-axis shoulder joint 202, first Y-axis shoulder joint 203, chest joint 204, first elbow joint 205, first wrist joint 206, waist joint 207, first Z-axis hip joint 208, first knee joint 209, first ankle joint 210, first ankle connecting joint 211, first Y-axis hip joint 212, second Z-axis shoulder joint 213, second Y-axis shoulder joint 214, third robot arm Z-axis joint 215, second elbow joint 216, second wrist joint 217, second Z-axis hip joint 218, second knee joint 219, second ankle joint 220, second ankle connecting joint 221, third Z-axis hip joint 222, third knee joint 223, third ankle joint 224, third ankle connecting joint 225, fourth Z-axis hip joint 226, fourth knee joint 227, fourth ankle joint 228, fourth ankle connecting joint 229, and second Y-axis hip joint 230.

[0035] Figure electronic component description: first electromagnetic brake 75, second electromagnetic brake 77, third electromagnetic brake 79, fourth electromagnetic brake 81. DETAILED DESCRIPTION

[0036] Referring to Figure 1, the humanoid quadruped robot is composed of a robot head 1, a robot neck 2, a robot torso 16, three robot arms, four robot legs, a waist joint 7, a thoracolumbar hip joint 22, and a plurality of joint motors and auxiliary components. The robot head 1 is fixedly connected to the robot neck 2, the robot neck 2 is connected to the shoulder of the robot torso 16, and the connecting joint therebetween is a neck-shoulder joint. The neck-shoulder joint is a Z-axis joint, and the joint motor is the thirteenth motor 40.

[0037] Referring to FIG. 1, FIG. 2 and FIG. 3, the humanoid quadruped robot has three robot arms, which are a first robot arm 101, a second robot arm 102 and a third robot arm 103. The first robot arm 101 is composed of a first robot upper arm 4, a first robot lower arm 5 and a first robot hand 6. The connection between the first robot upper arm 4 and the first robot lower arm 5 is a first elbow joint 205, and the joint motor is a fifth motor 32. The connection between the first robot lower arm 5 and the first robot hand 6 is a first wrist joint 206, and the joint motor is an eighth motor 35. The connection between the first robot upper arm 4 and the robot torso 16 is a first shoulder joint 3. One end of the first shoulder joint 3 is connected to the shoulder of the robot torso 16, and the connection joint is a first Z-axis shoulder joint 202, and the joint motor is a fourth motor 31. The other end of the first shoulder joint 3 is connected to the first robot upper arm 4, and the connection joint is a first Y-axis shoulder joint 203, and the joint motor is a third motor 30. The second robot arm 102 is composed of a second robot upper arm 18, a second robot lower arm 19 and a second robot hand 20. The connection between the second robot upper arm 18 and the second robot lower arm 19 is a second elbow joint 216, and the joint motor is a seventeenth motor 44. The connection between the second robot lower arm 19 and the second robot hand 20 is a second wrist joint 217, and the joint motor is a twentieth motor 47. The connection between the second robot upper arm 18 and the robot torso 16 is a second shoulder joint 17. One end of the second shoulder joint 17 is connected to the shoulder of the robot torso 16, and the connection joint is a second Z-axis shoulder joint 213, and the joint motor is a sixteenth motor 43. The other end of the second shoulder joint 17 is connected to the second robot upper arm 18, and the connection joint is a second Y-axis shoulder joint 214, and the joint motor is a fifteenth motor 42.

[0038] Referring to FIG. 1, FIG. 2, FIG. 3, FIG. 4 and FIG. 5, the humanoid quadruped robot has four robot legs, which are a first robot leg 104, a second robot leg 105, a third robot leg 106 and a fourth robot leg 107. The first robot leg 104 and the fourth robot leg 107 are on a first lateral side. The hip joint of the first robot leg 104 is a first Z-axis hip joint 208. The hip joint of the fourth robot leg 107 is a fourth Z-axis hip joint 226. The first Z-axis hip joint 208 and the fourth Z-axis hip joint 226 share a joint shaft, which is a first Z-axis hip joint shaft 8. The second robot leg 105 and the third robot leg 106 are on a second lateral side. The hip joint of the second robot leg 105 is a second Z-axis hip joint 217. The hip joint of the third robot leg 106 is a third Z-axis hip joint 222. The second Z-axis hip joint 217 and the third Z-axis hip joint 222 share a joint shaft, which is a second Z-axis hip joint shaft 21.

[0039] Referring to FIG. 1, FIG. 2 and FIG. 3, the first robot leg 104 is composed of a first robot thigh 10, a first robot shank 11, a first ankle joint 12, a first compression spring 13, a first robot foot 14, a tenth motor 37, an eleventh motor 38 and a twelfth motor 39. The connecting joint between the first robot thigh 10 and the first robot shank 11 is a first knee joint 209. The joint motor is the eleventh motor 38. The first robot shank 11 is connected with the first robot foot 14 by the first ankle joint 12. The connecting joint between one end of the first ankle joint 12 and the first robot shank 11 is a first ankle joint 210. The joint motor is the twelfth motor 39. The connecting joint between the other end of the first ankle joint 12 and the first robot foot 14 is a first ankle joint 211. The first ankle joint 211 has no joint motor and only serves as a connecting function.

[0040] Referring to FIG. 1, FIG. 2 and FIG. 3, the second machine leg 105 is composed of a second machine thigh 23, a second machine lower leg 24, a second ankle joint 25, a second compression spring 26, a second machine foot 27, a twenty-second motor 49, a twenty-third motor 50 and a twenty-fourth motor 51. The connecting joint between the second machine thigh 23 and the second machine lower leg 24 is a second knee joint 219, and the joint motor is the twenty-third motor 50. The second machine lower leg 24 is connected with the second machine foot 24 by the second ankle joint 25. The connecting joint between one end of the second ankle joint 25 and the second machine lower leg 24 is a second ankle joint 220, and the joint motor is the twenty-fourth motor 51. The other end of the second ankle joint 25 is connected with the second machine foot 27, and the connecting joint is a second ankle joint 221. The second ankle joint 221 has no joint motor, and only serves as a connecting function.

[0041] Referring to FIG. 1, FIG. 2, FIG. 3, FIG. 4 and FIG. 5, the third machine leg 106 is composed of a third machine thigh 58, a third machine lower leg 59, a third ankle joint 60, a third compression spring 61, a third machine foot 62, a twenty-fifth motor 52, a twenty-sixth motor 53 and a twenty-seventh motor 54. The connecting joint between the third machine thigh 58 and the third machine lower leg 59 is a third knee joint 223, and the joint motor is the twenty-sixth motor 53. The third machine lower leg 59 is connected with the third machine foot 62 by the third ankle joint 60. The connecting joint between one end of the third ankle joint 60 and the third machine lower leg 59 is a third ankle joint 224, and the joint motor is the twenty-seventh motor 54. The other end of the third ankle joint 60 is connected with the third machine foot 62, and the connecting joint is a third ankle joint 225. The third ankle joint 225 has no joint motor, and only serves as a connecting function.

[0042] Referring to FIG. 1, FIG. 2, FIG. 3, FIG. 4 and FIG. 5, the fourth machine leg 107 is composed of the fourth machine thigh 63, the fourth machine lower leg 64, the fourth ankle joint 65, the fourth compression spring 66, the fourth machine foot 67, the twenty-eighth motor 55, the twenty-ninth motor 56 and the thirtieth motor 57, the connecting joint between the fourth machine thigh 63 and the fourth machine lower leg 64 is the fourth knee joint 227, the joint motor is the twenty-ninth motor 56, the fourth machine lower leg 64 is connected with the fourth machine foot 67 by the fourth ankle joint 65, the connecting joint between one end of the fourth ankle joint 65 and the fourth machine lower leg 64 is the fourth ankle joint 228, the joint motor is the thirtieth motor 57, the other end of the fourth ankle joint 65 is connected with the fourth machine foot 67, and the joint is the fourth ankle joint 229, the fourth ankle joint 229 has no joint motor and only serves as a mutual connection.

[0043] Referring to FIG. 6 and FIG. 11, the waist joint gear part 7-1 is a gear part on the waist joint 7, and the waist joint round hole 7-2 is a round hole on the waist joint 7, the waist joint gear part 7-1 protrudes from the plane of the waist joint 7 and engages with the power output gear of the eighteenth motor 45 and the auxiliary gear 83, in actual production, multiple auxiliary gears 83 are used to increase the stability of the waist joint 7 on the chest-lumbar-hip joint 22, there are four motor mounting parts on the waist joint 7, the distance between the four motor mounting parts is equal, and four electric telescopic devices are arranged in the four motor mounting parts, in actual use, four push-pull rod output motors are used, which are the seventh motor 34, the nineteenth motor 46, the thirty-first motor 68 and the thirty-second motor 69, the four motors are connected with the waist joint 7 at the motor end and connected with the chest of the machine trunk 16 at the push-pull rod end, the motor end of the waist joint 7 is movably connected, the four motors have a movable range on the waist joint 7, and the movable direction is limited to the direction of the center and the opposite direction of the center, and cannot move in the direction of the circumference.

[0044] Referring to FIG. 7, inside the first mechanical lower leg 11 is a pressure sensor 70, a control spring 71, a pressure control piece 72, a twelfth motor 39 and one end of the first ankle piece 12, the end of the first ankle piece 12 has a gear part 12-1 at the end, which is engaged with the output gear of the twelfth motor 39, the pressure control piece 72 can only move axially and cannot rotate, the axial movement of the first ankle piece 12 passes through the pressure control piece 72, controls the pressure sensor 70 through the control spring 71, and the pressure sensor 70 is used to detect the bearing force of the first mechanical leg 104 in real time. Compared with the other three mechanical legs, the other end of the first ankle piece 12 is a spherical part 12-2, and the first mechanical foot 14 has a recessed part 14-4, the spherical part 12-2 is placed in the recessed part 14-4 and cannot be pulled out. In actual production, the first mechanical foot 14 is composed of two parts in the longitudinal direction, the recessed part 14-4 is divided into two semicircles, and the spherical part 12-2 is placed in the two semicircles and then combined into one. The first ankle piece 12 has a large range of axial movement in the Z direction and a small range of axial movement in the Y direction on the first mechanical foot 14. When the first mechanical foot 14 is in a state of not being subjected to force, the axis of the first ankle piece 12 is perpendicular to the sole plane of the first mechanical foot 14. The first pressure spring 13 has two functions: one is to buffer between the first mechanical foot 14 and the first mechanical lower leg 11, and the other is to restore the first mechanical foot 14 to a state in which the sole plane is perpendicular to the axis of the first ankle piece 12. The shape of the first mechanical foot 14 is preferably oval. At the two ends of the first mechanical foot 14 in the longitudinal direction, sensors for detecting distance are installed, which are the first sensor 14-1 and the second sensor 14-2, respectively. Their function is to detect the distance between the two ends of the first mechanical foot 14 in the longitudinal direction and the obstacle. The internal structures of the second mechanical lower leg 24, the third mechanical lower leg 59 and the fourth mechanical lower leg 64 are exactly the same as that of the first mechanical lower leg.

[0045] Referring to FIG. 8 and FIG. 9, the third machine arm 103 is composed of the third machine large arm 74, the third machine small arm 73, the second motor 29, the sixth motor 33 and the fourteenth motor 41, in the chest position of the machine trunk 16, when not in use, retracting the chest of the machine trunk 16, when in use, extending, the extending direction can extend to the first longitudinal side direction and the second longitudinal side direction according to the instruction, the principle of controlling the extending direction of the third machine arm 103 is that the second motor 29 controls the control position of the third machine large arm 74 to be biased to the first longitudinal side, the fourteenth motor 41 controls the control position of the third machine large arm 74 to be biased to the second longitudinal side, if the second motor 29 is controlled to extend first and the fourteenth motor 41 is controlled to extend later, the third machine large arm 74 extends to the first longitudinal side, if the fourteenth motor 41 is controlled to extend first and the second motor 29 is controlled to extend later, the third machine large arm 74 extends to the second longitudinal side, after the third machine large arm 74 extends, the sixth motor 33 controls the extension of the third machine small arm 73, controls the extension length according to the need, further, according to the actual need, different components such as machine hands, trays and tools are installed at the extending end of the third machine small arm 73, according to the actual need, the third machine arm 103 is divided into two machine arms, one extends to the first longitudinal side and the other extends to the second longitudinal side, and the working principle is the same as the utility model.

[0046] Referring to FIG. 10 and FIG. 11, the Y-axis hip joint shaft 9 is fixed at the first longitudinal side and the second longitudinal side of the thoracolumbar hip joint piece 22 respectively, and the axis is perpendicular to the first longitudinal side and the second longitudinal side respectively, one end of the first Z-axis hip joint shaft 8 rotates on the Y-axis hip joint shaft 9 to become the first Y-axis hip joint 212, one end of the second Z-axis hip joint shaft 21 rotates on the Y-axis hip joint shaft 9 to become the second Y-axis hip joint 230, in the standing state of the robot, the axis of the first Z-axis hip joint shaft 8 is on the same axis as the axis of the second Z-axis hip joint shaft 21.

[0047] Referring to FIG. 10 and FIG. 11, the connecting joint between the first machine leg 104 and the first Z-axis hip joint shaft 8 is the first Z-axis hip joint 208, the connecting joint between the fourth machine leg 107 and the first Z-axis hip joint piece 8 is the fourth Z-axis hip joint 226, the connecting joint between the second machine leg 105 and the second Z-axis hip joint piece 21 is 218, and the connecting joint between the third machine leg 106 and the second Z-axis hip joint piece 21 is 222.

[0048] Referring to FIG. 10, the first gear 76, the second gear 78, the third gear 80 and the fourth gear 82 are the same structure, and the working principle is that the gear on the output shaft of the tenth motor 37 is engaged with the first gear 76 fixed on the first Z-axis hip joint shaft 8, drives the first machine leg 104 to rotate around the first Z-axis hip joint shaft 8, and provides power for the walking of the first machine leg 104. The gear on the output shaft of the twenty-eighth motor 55 is engaged with the fourth gear 82 fixed on the first Z-axis hip joint shaft 8, drives the fourth machine leg 107 to rotate around the first Z-axis hip joint shaft 8, and provides power for the walking of the fourth machine leg 107. The gear on the output shaft of the twenty-second motor 49 is engaged with the second gear 78 fixed on the second Z-axis hip joint shaft 21, drives the second machine leg 105 to rotate around the second Z-axis hip joint shaft 21, and provides power for the walking of the second machine leg 105. The gear on the output shaft of the twenty-fifth motor 52 is engaged with the third gear 80 fixed on the second Z-axis hip joint shaft 21, drives the third machine leg 106 to rotate around the second Z-axis hip joint shaft 21, and provides power for the walking of the third machine leg 106.

[0049] Referring to FIG. 10, the first electromagnetic brake 75, the second electromagnetic brake 77, the third electromagnetic brake 79 and the fourth electromagnetic brake 81 are the same structure, and the function is that the brake pad in the electromagnetic brake extends after the electromagnet is powered on, and retracts after power off. The brake pad extends to lock the joint and cannot rotate. According to the actual needs, the first machine leg 104, the second machine leg 105, the third machine leg 106 and the fourth machine leg 107 need to be locked, and four electromagnetic brake pieces are used to lock the machine legs.

[0050] Referring to FIG. 11, the connecting joint of the thoracolumbofemoral joint 22 and the chest of the machine trunk 16 is the thoracic joint 204, which is a spherical part 22-1 on the thoracolumbofemoral joint 22 connected with a concave part on the chest of the machine trunk 16, and the thoracic joint 204 is a rotating joint with Y-axis and Z-axis directions, and the machine trunk 16 can move in any direction of the first longitudinal side, the second longitudinal side, the first lateral side, the second lateral side, and any direction between two sides, and the lumbar joint 207 is a lumbar joint 7 rotating on the step of the thoracolumbofemoral joint 22 by using the lumbar joint hole 7-2 thereon, and the rotating angle range of the lumbar joint 207 is 360 degrees, and the lumbar joint 207 is an X-axis rotating joint, and the joint motor driving the lumbar joint 7 to rotate on the step of the thoracolumbofemoral joint 22 is the eighteenth motor 45, and in order to prevent the lumbar joint 7 from being separated from the thoracolumbofemoral joint 22, after the lumbar joint 7 is placed on the step of the thoracolumbofemoral joint 22, the eighteenth motor 45 and the auxiliary gear 83 are installed.

[0051] Referring to FIG. 11, the joint motor of the first Y-axis hip joint 212 is the ninth motor 36, and the joint motor of the second Y-axis hip joint 230 is the twenty-first motor 48, and according to the structure and stress condition of the first Z-axis hip joint shaft 8 and the second Z-axis hip joint shaft 21 in the whole robot, the first is that a larger power is needed to drive, and the second is that the rotating angle is smaller, and the joint motor with a screw structure output shaft is adopted, and the output shafts of the ninth motor 36 and the twenty-first motor 48 are screw structure, and the first threaded hole 8-1 on the first Z-axis hip joint shaft 8 is matched with the output shaft of the twenty-first motor 48, and the second threaded hole 21-1 on the second Z-axis hip joint shaft 21 is matched with the ninth motor 36, and since the first Z-axis hip joint 8 and the second Z-axis hip joint 21 will change the angle with the output shaft of the joint motor when being controlled, the actual production is that the fixed end of the ninth motor 36 and the twenty-first motor 48 has a movable gap, or there is no thread in the first threaded hole 8-1 and the second threaded hole 21-1, and an inner threaded nut matched with the screw is placed therein.

[0052] Referring to Figure 12, the connection between the machine head 1 and the machine neck 2 is a fixed connection, the shell of the machine head 1 is a one-way light transmission material, which means that the human eye and the visual device cannot see the internal components of the machine head 1, and the visual device inside the machine head 1 can see the scene outside the machine head 1, according to actual needs, there are two solutions, one set of visual device or two sets of visual device inside the machine head 1, the first bracket 15 and the first motor 28 form the first set of rotating mounting bracket, the second bracket 85 and the thirty-third motor 84 form the second set of rotating mounting bracket, the rotating angle of a set of visual device mounting bracket is 360 degrees, the rotating angle of two sets of visual device mounting bracket is 180 degrees, and they do not intersect each other, two sets of visual devices are controlled by two motors respectively, the hole through the machine neck 2 is a threading hole 2-1, which is used for the connection between the machine head 1 and the machine body 16 to pass through the threading hole 2-1.

[0053] Referring to Figure 13, the 300 type motor is a whole, which is composed of 302 motor, 303 speed reducer, 301 disc, 304 signal detection circuit and 306 power gear, 306 power gear is on the longitudinal side of 302 motor, one end of 302 motor is connected with 303 speed reducer, and the other end is connected with 301 disc, there is a circular hole, which is the first circular hole 305, on 301 disc, 304 signal detection circuit is an infrared transceiver circuit, which detects infrared light penetrating through the first circular hole 305, and becomes a 302 motor revolution counting detection circuit, in actual production, the motor revolution circuit composed of Hall element has the same effect, if more accurate motor counting circuit is needed, only need to increase multiple circular holes similar to the first circular hole 305 on 301 disc, the principle is to detect the number of revolutions of 302 motor driving the specified position of the component, if the component needs to return to the starting position, control how many revolutions of 302 motor can be, the third motor 30, the twelfth motor 39, the sixteenth motor 43, the eighteenth motor 45, the twenty-fourth motor 51, the twenty-seventh motor 54 and the thirtieth motor 57 are all 300 type motors.

[0054] The utility model discloses four types of motor, 300 type, 400 type, 500 type and 600 type, working principle and 300 type motor are same, the power gear of 400 type motor is at the one side of motor lateral side, third motor 30, fifth motor 32, eighth motor 35, tenth motor 37, eleventh motor 38, twelfth motor 39, thirteenth motor 40, fifteenth motor 42, seventeenth motor 44, twentieth motor 47, twenty -second motor 49, twenty -third motor 50, twenty -fourth motor 51, twenty -fifth motor 52, twenty -sixth motor 53, twenty -eighth motor 55 and twenty -ninth motor 56 are all 400 type motor, the power output of 500 type motor is push -and -pull rod, seventh motor 34, nineteenth motor 46, thirty -first motor 68 and thirty -second motor 69 are all 500 type motor, the power output of 600 motor is screw rod, ninth motor 36 and twenty -first motor 48 are all 600 type motor, the joint motor internal structure in prior art is various, selects different joint motor according to different robot.

[0055] Referring to Figure 14, one state of the utility model when walking to the first longitudinal direction or to the second longitudinal direction, in this state, the first machine arm 101 and the first machine leg 104 and the fourth machine leg 107 are on one side, the second machine arm 102 and the second machine leg 105 and the fourth machine leg 106 are on one side, or the second machine arm 102 and the first machine leg 104 and the fourth machine leg 107 are on one side, the first machine arm 101 and the second machine leg 105 and the third machine leg 106 are on one side, similar to normal walking of human body.

[0056] Referring to Figure 15, another state of the utility model when walking to the first longitudinal direction or to the second longitudinal direction, this state is that the machine trunk 16 rotates 90 degrees in any direction, the first machine arm 101 and the first machine leg 104 and the second machine leg 105 are on one side, the second machine arm 102 and the third machine leg 106 and the fourth machine leg 107 are on one side, or the second machine arm 102 and the first machine leg 104 and the second machine leg 105 are on one side, the first machine arm 101 and the third machine leg 106 and the fourth machine leg 107 are on one side, similar to that the upper body of human body turns 90 degrees, and the lower body normally walks forward.

[0057] The distance between the first machine leg 104 and the fourth machine leg 107 is reduced, the distance between the second machine leg 105 and the third machine leg 106 is reduced in the standing state, the distance between the first machine leg 104 and the fourth machine leg 107 is increased, and the distance between the second machine leg 105 and the third machine leg 106 is increased in the walking state.

[0058] Referring to Fig. 16, the sequence of the longitudinal walking state machine leg of the utility model is: ① standing state, ② the third machine leg 106 walks one step, ③ the second machine leg 105 and the fourth machine leg 107 walk one step at the same time or in turn, and the second machine foot 27 is close to the third machine foot 62, ④ the first machine leg 101 and the third machine leg 106 walk one step at the same time or in turn, and the sequence is circulated.

[0059] Referring to Fig. 17, the control sequence of the 90-degree turning state machine leg of the utility model is: ① standing state, ② the first machine leg 101 and the third machine leg 106 are lifted at the same time or in turn, after the first machine leg 101 and the third machine leg 106 are lifted, the twenty-fourth motor 51 and the thirtieth motor 57 start to rotate, the second machine leg 102 and the fourth machine leg 107 are controlled to rotate 90 degrees, the second machine foot 27 and the fourth machine foot 67 do not move, ③ the first machine leg 101 and the third machine leg 106 fall, the first machine foot 14 and the third machine foot 62 fall to the ground, ④ the second machine leg 102 and the fourth machine leg 107 are lifted, after being lifted, the twenty-fourth motor 51 and the thirtieth motor 57 start to rotate, the second machine foot 27 and the fourth machine foot 67 are controlled to rotate 90 degrees, ⑤ the second machine leg 102 and the fourth machine leg 107 fall, the second machine foot 27 and the fourth machine foot 67 fall to the ground, and the 90-degree turning is completed.

[0060] Referring to Fig. 18, the control sequence of the four machine legs in the stair climbing state of the utility model is: from the beginning to the end of stair climbing, the four machine legs must be in a state that one of them is lifted and the other three are on the ground, which is different from the walking state that two of them are lifted and the other two are on the ground, ① standing state, ② the third machine leg 106 and the fourth machine leg 107 climb the second step of the stairs in turn, ③ the first machine leg 104 and the second machine leg 105 walk in turn and land on the positions of the third machine leg 106 and the fourth machine leg 107, ④ the third machine leg 106 and the fourth machine leg 107 climb the third step of the stairs in turn, ⑤ the first machine leg 104 and the second machine leg 105 climb the second step of the stairs in turn, and the cycle is repeated to complete the stair climbing purpose, the above method is only limited to small-pitch stairs, and large-pitch stairs can be directly climbed according to the sequence.

[0061] Referring to Fig. 19, the control sequence of the four machine legs in the stair descending state of the utility model is: from the beginning to the end of stair descending, the four machine legs must be in a state that one of them is lifted and the other three are on the ground, which is different from the walking state that two of them are lifted and the other two are on the ground, ① standing state, ② the third machine leg 106 and the fourth machine leg 107 descend the second step of the stairs in turn, ③ the first machine leg 104 and the second machine leg 105 walk in turn and land on the positions of the third machine leg 106 and the fourth machine leg 107, ④ the third machine leg 106 and the fourth machine leg 107 descend the third step of the stairs in turn, ⑤ the first machine leg 104 and the second machine leg 105 descend the second step of the stairs in turn, and the cycle is repeated to complete the stair descending purpose, the above method is only limited to small-pitch stairs, and large-pitch stairs can be directly descended according to the sequence.

[0062] According to the above description, the utility model is a mechanical structure and a driving structure of a robot, and the control mode of the robot action is various, simple remote control circuit control and programming circuit control can only complete simple actions, if complex actions are required, artificial intelligence circuit control must be used to complete complex actions.

[0063] The utility model discloses a machine head 1 compared with the machine head of prior art robot: the machine head of prior art robot has the joint between machine neck, and can rotate in the set range under the control, but can not rotate 360 degrees, can only see the scene in front, still have visual blind area in the range of machine head rotation, must turn around to see the scene in left, right and rear, adapt to ordinary application, but have practical shortcomings in security and important occasion, the machine head 1 of the utility model is fixed on machine neck 2, can only rely on the neck shoulder joint 201 between machine neck 2 and machine trunk 16 to make Z axial rotation, the shell of machine head 1 is made of one-way light transmission material, one-way light transmission refers to the visual device in machine head 1 can see the scene outside machine head 1, the human eye and visual device outside can not see the component inside machine head 1, the visual range of visual device in machine head 1 is 360 degrees, and the direction of visual device visual in machine head 1 can not be judged outside, very practical in security and other important occasion.

[0064] The utility model discloses a machine arm compared with the machine arm of prior art robot: prior art robot has two machine arms, can be responsible for ordinary post work, but has the shortcoming in special post work, in the utility model has three machine arms, in addition to first machine arm 101 and second machine arm 102, still have third machine arm 103, first machine arm 101 and second machine arm 102 with the same structure of machine arm of prior art robot, same installation position, third machine arm 103 installation position is in the chest position of machine trunk 16, when not using, retract the chest of machine trunk 16 under the control of motor, when using, extend the chest of machine trunk 16, namely can extend to first longitudinal side, also can extend to second longitudinal side, according to different occasion, install tray, tool etc. on the machine small arm of extension, increase the robot of third machine arm 103 can better be responsible for special post work.

[0065] The rotation angle of the machine trunk 16 at the waist joint 207 of the robot is 360 degrees, and the robot can stay at any angle position, if the robot needs to complete work on different sides, the machine trunk 16 can directly rotate at the waist position, the structure is less time-consuming in the turning process of the machine trunk 16, especially in the walking process of the robot, the robot can walk and turn at the same time.

[0066] The machine legs in the utility model are compared with the machine legs of the existing robot: the existing robot has two machine legs, and in the walking process of the robot, one machine leg falls to the ground, and the other machine leg is lifted, and the walking purpose is achieved by sequentially circulating, due to the reason of the prior art, the existing robot is better in walking on a flat road, especially in a complex road occasion, the technical problems of balance and weight bearing cannot achieve practical effect, the utility model has four machine legs with the same structure, in the walking process, two machine legs fall to the ground, and the other two machine legs are lifted, the walking purpose is achieved by sequentially circulating, and the utility model is especially suitable for a complex road occasion, since two machine legs are always in the state of falling to the ground, the walking balance and weight bearing are beneficial.

[0067] The first, second, third, fourth, fifth, sixth, seventh, eighth, ninth, tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, sixteenth, seventeenth, eighteenth, nineteenth, twentieth, twenty-first, twenty-second, twenty-third, twenty-fourth, twenty-fifth, twenty-sixth, twenty-seventh, twenty-eighth, twenty-ninth, thirtieth, thirty-first, thirty-second and thirty-third in the utility model refer to the alias of a certain component or part, and have no other meanings.

[0068] The utility model discloses a robot, which is similar to some actions of human beings, and the robot neck 2 rotates at the cervical joint 201, corresponding to the nodding action of human beings, the action completed by the first robot arm 101 and the second robot arm 102 corresponds to the action completed by the two arms of human beings, the robot trunk 16 rotates at the chest joint 204 to the first longitudinal side or the second longitudinal side, corresponding to the bending action of human beings, the robot trunk 16 rotates at the waist joint 207, corresponding to the waist turning action of human beings, the first robot leg 104 and the fourth robot leg 107 are separated into a character type, the second robot leg 105 and the third robot leg 106 are separated into a character type, corresponding to the character horse action of human beings, the distance between the first robot leg 104 and the fourth robot leg 107 and the second robot leg 105 and the third robot leg 106 is lengthened, corresponding to the leg crossing action of human beings, 90-degree turning corresponds to the forward movement of human beings changing into left movement or right movement, since the first longitudinal side and the second longitudinal side are both front sides, the first longitudinal walking and the second longitudinal walking correspond to the forward movement of human beings.

[0069] The utility model discloses a robot, which is similar to some actions of human beings, and the robot neck 2 rotates at the cervical joint 201, corresponding to the nodding action of human beings, the action completed by the first robot arm 101 and the second robot arm 102 corresponds to the action completed by the two arms of human beings, the robot trunk 16 rotates at the chest joint 204 to the first longitudinal side or the second longitudinal side, corresponding to the bending action of human beings, the robot trunk 16 rotates at the waist joint 207, corresponding to the waist turning action of human beings, the first robot leg 104 and the fourth robot leg 107 are separated into a character type, the second robot leg 105 and the third robot leg 106 are separated into a character type, corresponding to the character horse action of human beings, the distance between the first robot leg 104 and the fourth robot leg 107 and the second robot leg 105 and the third robot leg 106 is lengthened, corresponding to the leg crossing action of human beings, 90-degree turning corresponds to the forward movement of human beings changing into left movement or right movement, since the first longitudinal side and the second longitudinal side are both front sides, the first longitudinal walking and the second longitudinal walking correspond to the forward movement of human beings.

Claims

1. The humanoid quadruped robot is composed of a robot head (1), a robot neck (2), a robot torso (16), robot arms, robot legs, and multiple joint motors and auxiliary components. There are two robot arms with the same structure and installation position as the existing robot arms, described as the first robot arm (101) and the second robot arm (102). The four different sides of the robot are described using the first longitudinal side, the second longitudinal side, the first lateral side, and the second lateral side. The two different walking directions are described using the first longitudinal walking and the second longitudinal walking. The two states in the walking process are described using the 90-degree turn. The side of the first robot arm (101) is the first lateral side, and the side of the second robot arm (102) is the second lateral side. The two sides without robot arms are the first longitudinal side and the second longitudinal side. The walking in front of the first longitudinal side is the first longitudinal walking, and the walking in front of the second longitudinal side is the second longitudinal walking. Due to the different rotation directions of the robot joints, the three different rotation directions are described using the X-axis direction, the Y-axis direction, and the Z-axis direction. The X-axis direction refers to the horizontal rotation, the Y-axis direction refers to the rotation towards the first lateral direction and the second lateral direction, and the Z-axis direction refers to the rotation towards the first longitudinal direction and the second longitudinal direction. characterized in that The humanoid quadruped robot has four robot legs with the same structure, which are the first robot leg (104), the second robot leg (105), the third robot leg (106), and the fourth robot leg (107). The first robot leg (104) and the fourth robot leg (107) are on the first lateral side, and the second robot leg (105) and the third robot leg (106) are on the second lateral side. Each robot leg is composed of a robot thigh, a robot calf, a robot foot, an ankle joint component, a compression spring, and auxiliary components. Inside the robot calf, there are a pressure sensor, a control spring, a pressure control component, and a joint motor. The hip joints of the first robot leg (104) and the fourth robot leg (107) are on the same axis, which is the first Z-axis direction hip joint axis (8). The hip joints of the second robot leg (105) and the third robot leg (106) are on the same axis, which is the second Z-axis direction hip joint axis (21). The connection between the first Z-axis direction hip joint axis (8) and the Y-axis direction hip joint axis (9) is the first Y-axis direction hip joint, and the connection between the second Z-axis direction hip joint axis (21) and the Y-axis direction hip joint axis (9) is the second Y-axis direction hip joint. The connection between the machine calf and the machine foot is an ankle joint, one end of the ankle joint is connected with the machine calf, which is an ankle joint controlled by a motor, the other end of the ankle joint is connected with the machine foot, which is a foot ankle joint, the foot ankle joint is not controlled by a motor, and only plays a connecting role, a compression spring is arranged on the ankle joint, the compression spring serves as a buffer between the machine foot and the machine calf, a pressure control element is arranged inside the ankle joint of the machine calf, the pressure control element controls the pressure sensor through the control of the spring, the detection signal output by the pressure sensor and the detection signals output by the other three pressure sensors are jointly input into a signal comparison circuit, and the force bearing conditions of each machine leg are detected. In addition to the first machine arm (101) and the second machine arm (102), there is a third machine arm (103), which is located at the chest of the machine torso (16), and the third machine arm (103) is retracted into the chest of the machine torso (16) when not in use and is extended when in use, and the extension direction can be towards the first longitudinal side direction or the second longitudinal side direction according to requirements. In the standing state of the robot, the first Z-axis is on the same axis as the axis of the second Z-axis, and in the longitudinal walking state, the walking trajectories of the first machine leg (104) and the fourth machine leg (107) are on the same trajectory, and the walking trajectories of the second machine leg (105) and the third machine leg (106) are on the same trajectory. The machine head (1) is fixed on the machine neck (2), the machine neck (2) is connected with the shoulder of the machine torso (16), and the connecting joint therebetween is a neck-shoulder joint (201), the neck-shoulder joint (201) is a Z-axis joint, the shell of the machine head (1) is made of a one-way light-transmitting material, the one-way light transmission means that the internal visual device can see the entire scene outside through the shell, the human eye and the visual device cannot see the components inside the machine head (1) through the shell, two rotating supports are installed inside the machine head (1), the two supports are controlled by two motors respectively, the rotation angle of each support is 180 degrees, the two supports do not intersect with each other, and a visual device and a plurality of sensors with different functions are installed on the two supports respectively; The connecting joint between the chest-lumbar-hip joint (22) and the chest of the machine torso (16) is a chest joint (204), the chest joint (204) is formed by connecting a spherical part (22-1) on the chest-lumbar-hip joint (22) with a recess part on the chest of the machine torso (16), the chest joint (204) is a joint with Y-axis and Z-axis rotation, the waist joint (207) is formed by placing a waist joint hole (7-2) on the waist joint (7) on a step on the chest-lumbar-hip joint (22) and rotating, the rotation angle range of the waist joint (207) is 360 degrees, the waist joint (207) is an X-axis joint, and the connection between the waist joint (7) and the machine torso (16) is four electric telescopic devices.

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