Biped robot

Abstract

The utility model discloses a biped robot, the biped robot adopts a support plate and two foot mechanisms, the two foot mechanisms are arranged on the support plate, each foot mechanism comprises a first driving part, a second driving part, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a sliding block, the first driving part and the second driving part are arranged on the support plate, and the first driving part and the second driving part are arranged on the support plate. The first connecting rod is fixedly connected to the first driving part output shaft and connected with the second connecting rod, the sliding block is connected with the second connecting rod, the third connecting rod is fixedly connected with the second driving part output shaft and connected with the fourth connecting rod, and the fourth connecting rod is connected with the sliding block. Due to the fact that the sliding block can slide on the second connecting rod, the position of the connecting point of the second connecting rod and the fourth connecting rod can be changed along with movement of the connecting rods of the foot mechanism, the stroke of the second connecting rod rotating around the connecting point of the second connecting rod and the first connecting rod can be increased under the condition that the size of each connecting rod is not changed, and the swing amplitude of the second connecting rod is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a biped robot. BACKGROUND

[0002] The application of robot is an important way to promote the rapid development of production, and its main use is to carry and assemble various components in the industrial field, and improve production efficiency. In the design of the existing biped robot, a movable connecting rod mechanism is connected into shape, and the movable connecting rod is rotated by using the rotating pair on the movable connecting rod. However, the rotating stroke of the movable connecting rod is limited by the size of the connecting rod and the connecting position, such as the Chinese patent with the publication number "CN 110406612 A", which is connected by the rotating pair between the connecting rods. In order to change the rotating stroke of the movable connecting rod, the movable connecting rod mechanism needs to be redesigned. SUMMARY

[0003] The main purpose of the utility model is to provide a biped robot, so as to solve the technical problems put forward in the background art.

[0004] In order to achieve the above purpose, the utility model provides a biped robot, which comprises a support plate and a two-foot mechanism, wherein the two-foot mechanism is arranged on the support plate.

[0005] The foot mechanism comprises a first driving part, a second driving part, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a sliding block, the first driving part and the second driving part are arranged on the support plate, the first connecting rod is fixedly connected with the output shaft of the first driving part, the first connecting rod is connected with the second connecting rod, the sliding block is slidably connected with the second connecting rod, the third connecting rod is fixedly connected with the output shaft of the second driving part, the third connecting rod is connected with the fourth connecting rod, the sliding block is fixedly connected with a connecting shaft, and the fourth connecting rod is rotatably connected with the sliding block through the connecting shaft.

[0006] In an optional embodiment, the top end of the first connecting rod is fixedly connected with the output shaft of the first driving part, the bottom end of the first connecting rod is rotatably connected with the top end of the second connecting rod, the top end of the third connecting rod is fixedly connected with the output shaft of the second driving part, the bottom end of the third connecting rod is rotatably connected with the top end of the fourth connecting rod, and the bottom end of the fourth connecting rod is rotatably connected with the sliding block through the connecting shaft.

[0007] In an optional embodiment, the sliding block is in the shape of a square block and is sleeved on the outer surface of the second connecting rod to form a sliding connection.

[0008] In an optional embodiment, the second connecting rod is provided with a sliding rail, and the sliding block is arranged in the sliding rail and forms a sliding connection with the sliding rail.

[0009] In an optional embodiment, the second connecting rod end is arranged on the sole.

[0010] In an optional embodiment, the first driving part and the second driving part output shafts are opposite to each other, and the rotation axes of the two are coincident, and a through slot is arranged between the first driving part and the second driving part.

[0011] In an optional embodiment, the support plate is square, the foot mechanism is arranged at the middle position of the length direction of the support plate, and the two foot mechanisms are symmetrically arranged along the width direction of the support plate.

[0012] In an optional embodiment, the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are made of one of aluminum alloy, steel, magnesium alloy, titanium alloy and carbon fiber.

[0013] In an optional embodiment, the biped robot further comprises a support column and a bearing table, and the support column is connected between the support plate and the bearing table.

[0014] In an optional embodiment, the first driving part output shaft and the first connecting rod are fixedly connected through a shaft coupling, and the second driving part output shaft and the third connecting rod are fixedly connected through a shaft coupling.

[0015] Compared with the prior art, the biped robot has the following technical effects:

[0016] The technical scheme of the biped robot comprises a support plate and two foot mechanisms arranged on the support plate; the foot mechanism comprises a first driving part, a second driving part, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a sliding block; the first driving part and the second driving part are arranged on the support plate; the first connecting rod is fixedly connected to the first driving part output shaft; the first connecting rod is connected to the second connecting rod; the sliding block is connected to the second connecting rod; the third connecting rod is fixedly connected to the second driving part output shaft; the third connecting rod is connected to the fourth connecting rod; the sliding block is fixedly connected to a connecting shaft; and the fourth connecting rod is rotationally connected to the sliding block through the connecting shaft. The first driving part drives the first connecting rod to rotate, simultaneously driving the second connecting rod to move; the second driving part drives the third connecting rod to rotate, and the third connecting rod drives the fourth connecting rod and the sliding block to pull the second connecting rod to rotate around the connecting point of the first connecting rod and the second connecting rod, thereby simulating the swing of the thigh and the lower leg of a human. Since the sliding block can slide on the second connecting rod, the position of the connecting point of the second connecting rod and the fourth connecting rod can change with the movement of the connecting rods of the foot mechanism, which is equivalent to changing the length of the second connecting rod in real time, and the stroke of the second connecting rod rotating around the connecting point of the second connecting rod and the first connecting rod can be increased without changing the size of the connecting rods, thereby improving the swing amplitude of the second connecting rod. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the structure shown in these drawings without creative labor.

[0018] Figure 1 It is a schematic diagram of a biped robot of the present application.

[0019] Figure 2 It is a schematic diagram of a foot mechanism of the present application.

[0020] Explanation of reference signs:

[0021] Reference Name Reference Name 100 Biped robot 106 Fourth connecting rod 10 Foot mechanism 107 Sliding block 101 First driving part 108 Foot palm 102 Second driving part 20 Support plate 103 First connecting rod 30 Through slot 104 Second connecting rod 40 Support column 105 Third connecting rod 50 Carrying table

[0022] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all the 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 scope of protection of the present application.

[0024] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications will also change accordingly.

[0025] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of those skilled in the art, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present application.

[0026] With reference to Figure 1 and Figure 2 , the present application proposes a biped robot.

[0027] In the embodiment of the utility model, the biped robot 100 comprises a support plate 20 and two foot mechanisms 10, the two foot mechanisms 10 are arranged on the support plate 20 respectively,

[0028] Specifically, each foot mechanism 10 comprises a first driving part 101, a second driving part 102, a first connecting rod 103, a second connecting rod 104, a third connecting rod 105, a fourth connecting rod 106 and a sliding block 107, the first driving part 101 and the second driving part 102 are arranged on the support plate 20, the first connecting rod 103 is fixedly connected to the output shaft of the first driving part 101, the first connecting rod 103 is connected to the second connecting rod 104, the sliding block 107 is connected to the second connecting rod 104, the third connecting rod 105 is fixedly connected to the output shaft of the second driving part 102, the third connecting rod 105 is connected to the fourth connecting rod 106, the sliding block 107 is fixedly connected with a connecting shaft, and the fourth connecting rod 106 is rotationally connected with the sliding block 107 through the connecting shaft. In the embodiment of the utility model, the first driving part 101 and the second driving part 102 can be motors, but are not limited thereto.

[0029] In the application, two motors are used to drive two connected connecting rods respectively, so that they can rotate around their respective connecting points, and the action of lifting and lowering the foot of a person is simulated. The first connecting rod 103 is regarded as the thigh of a person, the second connecting rod 104 is regarded as the lower leg of a person, the first driving part 101, the second driving part 102, the first connecting rod 103, the second connecting rod 104, the third connecting rod 105, the fourth connecting rod 106 and the sliding block 107 can be regarded as a bionic foot. The first driving part 101 drives the first connecting rod 103 to rotate around the output shaft of the first driving part 10, simulating the action of lifting and lowering the thigh of a person, the second driving part 102 drives the second connecting rod 104 to rotate around the connecting point of the first connecting rod 103 and the second connecting rod 104, simulating the action of lifting and lowering the lower leg of a person, and the rotation of the two is independent of each other.

[0030] Specifically, the third connecting rod 105 is fixedly connected with the output shaft of the second driving part 102, the third connecting rod 105 is connected with the fourth connecting rod 106, the fourth connecting rod 106 is connected with the sliding block 107, the sliding block 107 is connected with the second connecting rod 104 through a sliding pair, the sliding block 107 can not only slide on the second connecting rod 104 but also has a transmission function to drive the rotation of the second connecting rod 104. More specifically, the second driving part 102 drives the third connecting rod 105 to rotate around the output shaft of the second driving part 102, drives the fourth connecting rod 106 to make a driven motion, the fourth connecting rod 106 transmits power to the sliding block 107, and the sliding block 107 drives the second connecting rod 104 to rotate around the connecting point of the first connecting rod 103 and the second connecting rod 104, and the sliding block 107 also slides on the second connecting rod 104. The coordinated operation of the two-foot mechanism 10 can realize the walking operation of the biped robot 100. It can be understood that, in order to control the movement of the two-foot mechanism 10, the biped robot 100 further comprises a control system, and the control system comprises a control unit, which can be a microcontroller, a microprocessor or other data processing chip, which will not be described here.

[0031] Since the sliding block 107 can slide on the second connecting rod 104, the position of the connecting point of the second connecting rod 104 and the fourth connecting rod 106 can change with the movement of the connecting rods of the foot mechanism 10, which is equivalent to changing the length of the second connecting rod 104 in real time. Without changing the size of the connecting rods, the stroke of the second connecting rod 104 rotating around the connecting point of the second connecting rod 104 and the first connecting rod 103 can be increased, and the swing range of the second connecting rod 104 is improved.

[0032] In an embodiment of the utility model, the top end of the first connecting rod 103 is fixedly connected with the output shaft of the first driving part 101, the bottom end of the first connecting rod 103 is rotatably connected with the top end of the second connecting rod 104 through a pin shaft, the top end of the third connecting rod 105 is fixedly connected with the output shaft of the second driving part 102, the bottom end of the third connecting rod 105 is rotatably connected with the top end of the fourth connecting rod 106 through a pin shaft, and the bottom end of the fourth connecting rod 106 is rotatably connected with the sliding block 107 through a connecting shaft.

[0033] In an embodiment of the utility model, the sliding block 107 is in the shape of a square block, the sliding block 107 has a cavity for accommodating the second connecting rod 104, the sliding block 107 is sleeved on the outer surface of the second connecting rod 104, and the sliding block 107 and the second connecting rod 104 form a sliding connection.

[0034] In an embodiment of the utility model, the second connecting rod 104 is provided with a sliding rail, the sliding block 107 is sleeved in the sliding rail, and the sliding block 107 and the sliding rail form a sliding connection.

[0035] In an embodiment of the utility model, the second connecting rod 104 is provided with a foot palm 108 at the end, the foot palm 108 is trapezoidal block shape, can play the role of supporting biped robot 100. The sliding block 107 is slidably connected to the second connecting rod 104 and is located between the foot palm 108 and the connecting point of the first connecting rod 103 and the second connecting rod 104.

[0036] In an embodiment of the utility model, the output shafts of the first driving part 101 and the second driving part 102 are opposite to each other and the rotation axes of the two coincide, and a through slot 30 is arranged between the first driving part 101 and the second driving part 102. Specifically, the output shafts of the first driving part 101 and the second driving part 102 are located in the support plate 20. The first driving part 101 and the second driving part 102 are arranged on the two sides of the through slot 30, the output shafts of the two are oppositely arranged and the rotation axes coincide, the first connecting rod 103, the second connecting rod 104, the third connecting rod 105 and the fourth connecting rod 106 can pass through the through slot 30 and complete the operation of movement in the through slot 30 or below. The first driving part 101 and the second driving part 102 are opposite to each other and are arranged on the two sides of the through slot 30 respectively, the space of the support plate 20 can be reasonably utilized, the problems of stress concentration and easy heating caused by the side-by-side arrangement, stacked arrangement or combined arrangement of two motors can be avoided, and only ordinary motors can be used, without the need of using special motors or modifying the motors.

[0037] In an embodiment of the utility model, the support plate 20 is square block shape, the foot mechanism 10 is arranged at the middle position of the length direction of the support plate 20, and the two foot mechanisms 10 are symmetrically arranged along the width direction of the support plate 20, so that the support plate 20 can be balanced in stress and the stability of the biped robot 100 can be improved.

[0038] In an embodiment of the utility model, the first connecting rod 103, the second connecting rod 104, the third connecting rod 105 and the fourth connecting rod 106 are made of high-strength materials such as one of aluminum alloy, steel, magnesium alloy, titanium alloy and carbon fiber, but are not limited thereto, and the use of high-strength materials can meet the stress requirements of the connecting rods in the movement process and improve the service life of the connecting rods.

[0039] In an embodiment of the utility model, the biped robot 100 further comprises a support column 40 and a bearing table 50, and the support column 40 is connected between the support plate 20 and the bearing table 50. Specifically, the support column 40 has four roots and is connected to the four corners of the support plate 20, and the bearing table 50 is further connected above the support column 40, and the bearing table 50 can bear goods and complete the carrying by the biped robot 100.

[0040] In the embodiment of the utility model, the first driving part 101 output shaft and the first connecting rod 103 are fixedly connected through the shaft coupling, the second driving part 102 output shaft and the third connecting rod 105 are fixedly connected through the shaft coupling, adopt the shaft coupling, can avoid the connecting rod direct connection motor's output shaft, prevent the damage to motor output shaft.

[0041] In the specific application of the application, the top end of the first connecting rod is fixedly connected on the output shaft of the first driving part through the shaft coupling, the bottom end of the first connecting rod and the top end of the second connecting rod are rotatably connected through the pin shaft, and the sliding block is slidably connected with the second connecting rod; the top end of the third connecting rod is fixedly connected on the output shaft of the second driving part through the shaft coupling, the bottom end of the third connecting rod and the top end of the fourth connecting rod are rotatably connected through the pin shaft, the sliding block is fixedly connected with the connecting shaft, and the bottom end of the fourth connecting rod is rotatably connected with the sliding block through the connecting shaft. The first driving part rotates to drive the first connecting rod to rotate around the output shaft of the first driving part, and the second connecting rod connected on the first connecting rod moves with the first connecting rod; the second driving part rotates to drive the third connecting rod to rotate around the output shaft of the second driving part, and the fourth connecting rod as a transmission connecting rod moves with the third connecting rod to transmit the driving force to the sliding block, and the sliding block pulls the second connecting rod to rotate around the connecting point of the first connecting rod and the second connecting rod. Through the coordination of the computer program, the two-foot mechanism is controlled to operate coordinately, and the walking operation of the biped robot is realized.

[0042] The above only describes the preferred embodiments of the utility model, and does not limit the patent range of the utility model, and any equivalent structural transformation made under the inventive concept of the utility model, or direct / indirect application in other related technical fields is included in the patent protection range of the utility model.

Claims

1. A bipedal robot, characterized in that, It includes a support plate and two-legged mechanisms, wherein the two-legged mechanisms are disposed on the support plate; The foot mechanism includes a first drive unit, a second drive unit, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, and a slider. The first drive unit and the second drive unit are disposed on the support plate. The first connecting rod is fixedly connected to the output shaft of the first drive unit and is connected to the second connecting rod. The slider is slidably connected to the second connecting rod. The third connecting rod is fixedly connected to the output shaft of the second drive unit and is connected to the fourth connecting rod. The slider is fixedly connected to a connecting shaft, and the fourth connecting rod and the slider are rotatably connected through the connecting shaft.

2. A bipedal robot as described in claim 1, characterized in that, The top end of the first connecting rod is fixedly connected to the output shaft of the first drive unit, the bottom end of the first connecting rod is rotatably connected to the top end of the second connecting rod, the top end of the third connecting rod is fixedly connected to the output shaft of the second drive unit, the bottom end of the third connecting rod is rotatably connected to the top end of the fourth connecting rod, and the bottom end of the fourth connecting rod is rotatably connected to the slider through the connecting shaft.

3. A bipedal robot as described in claim 2, characterized in that, The slider is fitted onto the outer surface of the second connecting rod to form a sliding connection.

4. A bipedal robot as described in claim 2, characterized in that, The second connecting rod is provided with a slide rail, and the slider is disposed inside the slide rail and forms a sliding connection with the slide rail.

5. A bipedal robot as described in claim 2, characterized in that, The second link has a foot at its end.

6. A bipedal robot as described in claim 1, characterized in that, The output shafts of the first drive unit and the second drive unit are opposite to each other, and their rotation axes coincide. A through groove is provided between the first drive unit and the second drive unit.

7. A bipedal robot as described in claim 6, characterized in that, The foot mechanism is located at the middle position along the length of the support plate, and the two foot mechanisms are symmetrically arranged along the width of the support plate.

8. A bipedal robot as described in claim 1, characterized in that, The first link, the second link, the third link, and the fourth link are made of one of the following materials: aluminum alloy, steel, magnesium alloy, titanium alloy, and carbon fiber.

9. A bipedal robot as described in claim 7, characterized in that, It also includes a support column and a support platform, wherein the support column is connected between the support plate and the support platform.

10. A bipedal robot as described in claim 1, characterized in that, The first drive unit output shaft is fixedly connected to the first connecting rod via a coupling, and the second drive unit output shaft is fixedly connected to the third connecting rod via a coupling.

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