Half-horse robot

Abstract

The utility model provides a half-horse robot which comprises a robot body, a compliant mechanism and a connecting piece, the robot body comprises a trunk and two mechanical legs, the trunk is used for bearing a heavy object, and the mechanical legs have three degrees of freedom and are connected to the rear end of the trunk; the connecting piece is used for being connected with a target object, and the target object is provided with two legs; the compliant mechanism is arranged between the front end of the trunk and the connecting piece, the compliant mechanism comprises an input end and an output end, the output end is connected with the connecting piece, and the input end can do linear motion relative to the output end; the compliant mechanism is configured to change the elastic potential energy of the compliant mechanism according to the relative displacement of the input end so as to adjust the acting force between the output end and the connecting piece. According to the half-horse robot, the purposes that the acting force is adjustable, the coordination is good and the man-machine interaction is smoother when the man-machine interaction is carried out in the load-bearing advancing process under multiple scenes are considered are achieved.

Description

Technical Field

[0001] This application relates to the field of weight-bearing walking robot technology, and in particular to a centaur robot. Background Technology

[0002] A load-bearing walking robot is an integrated wearable device that combines humans and machines. The robot uses sensors to determine the user's intentions, follows them, and provides assistance, alleviating fatigue caused by heavy or prolonged loads. A centaur robot is a load-bearing walking robot with a load-bearing mechanism. The front of the mechanism connects to the human body, and the rear has two mechanical legs, so that when the centaur robot is connected to the human body, the two can form a centaur-like structure.

[0003] Centaur robots in related technologies can only move on flat roads, and their application scenarios are relatively limited and their coordination is poor. Utility Model Content

[0004] This application provides a centaur robot to address the problems of limited application scenarios and poor coordination in related technologies.

[0005] This application provides a centaur robot, comprising: a robot body, a compliant mechanism, and a connector. The robot body includes a torso and two mechanical legs. The torso is used to bear heavy objects, and the mechanical legs have three degrees of freedom and are connected to the rear end of the torso. The connector is used to connect to a target object, which has two legs. The compliant mechanism is disposed between the front end of the torso and the connector. The compliant mechanism includes an input end and an output end. The output end is connected to the connector, and the input end is capable of linear motion relative to the output end. The compliant mechanism is configured to change its elastic potential energy according to the relative displacement of the input end, thereby adjusting the force between the output end and the connector.

[0006] In some embodiments, the compliant mechanism is a spring structure, and the stiffness of the spring structure is non-linear.

[0007] In some embodiments, the compliant mechanism includes a four-bar linkage, an antagonistic spring structure, a guide rail, and an input end, wherein the input end is a slider that slides with the guide rail; the guide rail extends along a first direction, one end of the guide rail is connected to the four-bar linkage through the input end, and the end of the guide rail away from the input end forms the output end at the connection point with the four-bar linkage; the antagonistic spring structure is connected between the four-bar linkages along a second direction, and the antagonistic spring structure is used to release the elastic potential energy to apply the force to the output end; wherein the first direction and the second direction are the directions of the two diagonals of the four-bar linkage, and the first direction is perpendicular to the second direction.

[0008] In some embodiments, the four-bar linkage includes four links, two adjacent links being rotatably connected, wherein two links are rotatably connected to both sides of the input end in the first direction, and the remaining two links are rotatably connected to both sides of the input end in the first direction, and the four links are of equal length.

[0009] In some embodiments, the link connected to the input terminal is a first link, and the first link is provided with an angle sensor, which is used to detect the angle between the first link and the first direction.

[0010] In some embodiments, the output end includes a base plate, a sleeve, and two connecting lugs. The sleeve is disposed on one side surface of the base plate, and the axis of the sleeve is parallel to the thickness direction of the base plate. The sleeve is sleeved on the end of the guide rail away from the input end. In the second direction, the two connecting lugs are symmetrically disposed on the outer surface of the sleeve. The connecting rod connected to the output end is a second connecting rod, and the two connecting lugs are rotatably connected to the two second connecting rods.

[0011] In some embodiments, the antagonistic spring structure includes a first spring and a second spring, the first spring and the second spring being connected in series, the first spring and the second spring being arranged along a third direction, and the third direction, the first direction and the second direction being parallel to each other.

[0012] In some embodiments, the compliant mechanism satisfies the relationship: x = 2L(cosθ0 - cosθ); where: x is the relative displacement of the input end, L is the length of the link, θ0 is the initial angle between the link connected to the input end and the first direction when the compliant mechanism is in equilibrium, that is, when the input end and the output end of the compliant mechanism are relatively stationary, and θ is the actual angle between the link connected to the input end and the first direction.

[0013] In some embodiments, when the compliant mechanism is in a balanced state, the compliant mechanism satisfies the following relationship: Among them, F s When the compliant mechanism is in equilibrium, the elastic force of the antagonistic spring structure in the second direction is given by , k is the equivalent stiffness of the antagonistic spring structure, x is the relative displacement of the input end, L is the length of the connecting rod, and θ0 is the initial angle between the connecting rod connected to the input end and the first direction.

[0014] In some embodiments, the centaur robot further includes a support rod and a connecting shaft. One end of the support rod is connected to the input end, and the other end of the support rod is rotatably connected to the front end of the torso via the connecting shaft, so that the compliant mechanism can rotate around the connecting shaft. The axis of the connecting shaft is parallel to a fourth direction, and the fourth direction, the height direction of the centaur robot, and the travel direction of the robot body are perpendicular to each other.

[0015] In some embodiments, the length of the support rod is adjustable, and the support rod is at least used to change the height difference between the front end and the input end in the height direction of the Centaur robot.

[0016] In some embodiments, the support rod includes a first end connected to the input end and a second end connected to the connecting shaft, wherein the first end is located above the second end in the height direction of the Centaur robot.

[0017] In some embodiments, the connector includes a back panel and a shoulder strap, the back panel being connected to the output end, and the shoulder strap being able to be attached to or worn over the target object.

[0018] In some embodiments, a force sensor is further included, which is disposed between the front end of the torso and the input end, or the force sensor is disposed between the output end and the connector.

[0019] In some embodiments, the centaur robot further includes a drive mechanism disposed at the rear end of the torso. The drive mechanism includes a first hip joint motor, a second hip joint motor, and a knee joint motor. The first hip joint motor is used to drive the second hip joint motor, the knee joint motor, and the mechanical leg to rotate as a whole. The mechanical leg includes a thigh, a lower leg, and a knee joint linkage mechanism. The thigh is connected to the second hip joint motor, which is used to drive the thigh to flex or extend. The lower leg is connected to the knee joint motor through the knee joint linkage mechanism, which is used to drive the lower leg to flex or extend.

[0020] In some embodiments, the knee joint linkage transmission mechanism includes a crank, a knee joint, and a knee joint linkage. The crank is connected to the knee joint motor, and the lower leg and the thigh are rotatably connected through the knee joint. One end of the knee joint linkage is rotatably connected to the crank, and the other end of the knee joint linkage is rotatably connected to the lower leg and the thigh through the knee joint.

[0021] In some embodiments, the shaft of the second hip joint motor and the shaft of the knee joint motor are coaxially arranged.

[0022] In some embodiments, there are two drive mechanisms, and the two drive mechanisms are connected to two mechanical legs in a one-to-one correspondence.

[0023] The beneficial effects of the centaur robot provided in this application are as follows: Compared with related technologies, this application sets a compliant mechanism between the front end of the robot's torso and the connector. The input end of the compliant mechanism can move linearly relative to the output end. Simultaneously, the compliant mechanism is configured to change its elastic potential energy according to the relative displacement of the input end. During the recovery process, the elastic potential energy is released and applied to the connector through the output end, thereby adjusting the force between the output end and the connector in real time, i.e., the interaction force. Taking the human body as an example, this means that when the centaur robot's connector is connected to the human body for movement, the connection between the front end of the torso and the human body via the compliant mechanism and the connector allows the centaur to move freely. When the robot is carrying a load on uneven roads, such as climbing slopes or going up and down stairs, the Centaur robot can change the interaction force between itself and the human body in real time according to the magnitude and direction of the relative displacement at the input end. This allows for accurate and stable control of the human-machine interaction force, determining whether the interaction force is a push or a pull. This not only gives the Centaur robot good human-machine interaction coordination but also reduces the energy consumption of human movement. In addition, the compliant mechanism can play a buffering role, making the human-machine interaction smoother. In summary, the Centaur robot in this application achieves the goals of adjustable force, good coordination, and smoother human-machine interaction when carrying a load in multiple scenarios. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a centaur robot connected to a heavy object or a human body, provided in some embodiments of this application.

[0026] Figure 2 for Figure 1 A schematic diagram of the centaur robot and the heavy object from one perspective;

[0027] Figure 3 for Figure 1 A structural diagram of the centaur robot and the heavy object from another perspective;

[0028] Figure 4 for Figure 2 An exploded view of the centaur robot in the game;

[0029] Figure 5 A schematic diagram of the compliant mechanism provided in some embodiments of this application from one perspective;

[0030] Figure 6 for Figure 5 A schematic diagram of the compliant mechanism from another perspective;

[0031] Figure 7 for Figure 5 A schematic diagram of the motion analysis of the compliant mechanism in the diagram;

[0032] Figure 8 Schematic diagram of the antagonistic spring structure provided in some embodiments of this application;

[0033] Figure 9 for Figure 5 Simulation curves of the equivalent stiffness, relative displacement at the input end, and output force of the compliant mechanism in the figure;

[0034] Figure 10 Simulation curves of the equivalent stiffness, relative displacement at the input end, and output force of the compliant mechanism when the initial angle between the first link and the first direction changes.

[0035] Figure 11 for Figure 3 Enlarged view of point I in the image;

[0036] Figure 12 for Figure 3 A schematic diagram of the assembly of the torso and a mechanical leg;

[0037] Figure 13 for Figure 12 The structural diagram of the connecting parts between the side plates of the torso and the mechanical legs is not shown.

[0038] Figure 14 Exploded views of mechanical legs provided in some embodiments of this application;

[0039] Figure 15 for Figure 3A schematic diagram of the equivalent structure of the robot's main body;

[0040] Figure 16 for Figure 5 The compliant mechanism in the Adams simulation curve;

[0041] Figure 17 for Figure 5 Test curves of the physical prototype bench of the compliant mechanism.

[0042] Figure label:

[0043] 100. Centaur robot; 200. Heavy object; 300. Target object;

[0044] 10. Torso; 101. Front receiving area; 102. Rear receiving area; 103. Upper layer; 104. Lower layer; 11. Front baffle; 12. Rear baffle; 13. Side panel; 14. First partition; 15. Second partition;

[0045] 20. Mechanical leg; 21. Thigh; 22. Lower leg; 23. Crank; 24. Knee joint; 25. Knee joint linkage;

[0046] 30. Compliant mechanism; 301. Input end; 302. Output end; 3021. Base plate; 3022. Sleeve; 3023. Connecting lug; 31. Four-bar linkage; 311. First link; 312. First link; 32. Antagonistic spring structure; 321. First spring; 322. Second spring; 33. Guide rail;

[0047] 40. Connector; 41. Back panel; 42. Shoulder strap;

[0048] 51. Support rod; 511. First end; 512. Second end; 52. Connecting shaft; 53. Force sensor; 54. Angle sensor; 55. Flange;

[0049] 60. Drive mechanism; 61. First hip joint motor; 62. Second hip joint motor; 63. Knee joint motor; 64. Hip joint; 65. Connector. Detailed Implementation

[0050] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0051] In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0052] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, as fixed connection, detachable connection, or integral connection; those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0053] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0054] A load-bearing walking robot is an integrated wearable device that combines humans and machines. The robot uses sensors to determine the user's intentions, follows them, and provides assistance, alleviating fatigue caused by heavy or prolonged loads. A centaur robot is a load-bearing walking robot with a load-bearing mechanism. The front of the mechanism connects to the human body, and the rear has two mechanical legs, so that when the centaur robot is connected to the human body, the two can form a centaur-like structure.

[0055] The term "centaur robot" generally refers to a robot design that mimics the form of a centaur (with a human upper body and a horse lower body). These robots combine the dexterity of the human upper body with the stable movement of four legs, offering unique advantages in specific applications.

[0056] Centaur robots in related technologies can only move on flat roads, and their application scenarios are relatively limited and their coordination is poor.

[0057] To address the aforementioned issues, this application provides a centaur robot.

[0058] like Figures 1-4 , Figure 7 and Figure 11As shown, the Centaur robot 100 includes: a robot body, a compliant mechanism 30, and a connector 40. The robot body includes a torso 10 and two mechanical legs 20. The torso 10 is used to support a heavy object 200, and the mechanical legs 20 have three degrees of freedom and are connected to the rear end of the torso 10. The connector 40 is used to connect to a target object 300, which has two legs. The compliant mechanism 30 is disposed between the front end of the torso 10 and the connector 40. The compliant mechanism 30 includes an input end 301 and an output end 302. The output end 302 is connected to the connector 40, and the input end 301 can perform linear motion relative to the output end 302. The compliant mechanism 30 is configured to change its elastic potential energy according to the relative displacement of the input end 301, so as to adjust the force between the output end 302 and the connector 40.

[0059] The aforementioned robot body and connector 40 constitute the centaur robot 100 in the related technology.

[0060] The aforementioned torso 10 is the main part of the robot's body and is used to support the heavy object 200. The front and rear ends of the torso 10 are opposite each other. Taking the centaur robot 100 moving forward as an example, the front end in the forward direction of the centaur robot 100 refers to the end of the torso 10 that is connected to the target object 300. The target object 300 may be, but is not limited to, a human body.

[0061] Two robotic legs 20 are connected to the rear end of the torso 10, serving to support the torso 10 and facilitate walking. Each robotic leg 20 has three degrees of freedom: abduction / adduction joints at the hip joint 64, flexion / extension joints at the hip joint 64, and flexion / extension joints at the knee joint 24. This joint configuration enables the robotic legs 20 to possess movement capabilities similar to human legs, allowing for flexible movement in three-dimensional space and supporting omnidirectional (all-around / all-directional) walking and posture adjustment. Through the coordinated movement of the two robotic legs 20, the Centaur robot 100 can achieve six degrees of freedom in center-of-mass motion control (position and posture), ensuring balance and maneuverability on various complex terrains. The joint layout of the robotic legs 20 allows their range of motion to cover the main ranges required for human walking, enabling coordination with human gait.

[0062] In the related technology, the front end of the torso 10 is connected to the human body via a connector 40 to achieve human-machine connection. In other words, the technical solution of this application adds a compliant mechanism 30 between the front end of the torso 10 of the centaur robot 100 and the connector 40.

[0063] Compliant mechanisms are a class of mechanisms that utilize the elastic deformation of materials rather than traditional hinges or sliding pairs to achieve motion. Compliant mechanisms offer unique advantages in the field of robotics, such as reduced friction, lubrication-free operation, lightweight design, high precision, and impact resistance.

[0064] The core of the compliant mechanism 30 in this application is an adjustable spring structure, used to provide compliant mutual force, i.e., interactive force, between the human and the robot, enabling compliant force coupling between the centaur robot 100 and the human body. The compliant mechanism 30 is configured to change its elastic potential energy according to the relative displacement of the input end 301, thereby adjusting the force F between the output end 302 and the connector 40. h That is, the interaction force. In other words, the compliant mechanism 30 can be equivalent to a spring structure, satisfying: F h =Kx, where K is the equivalent stiffness of the compliant mechanism 30, i.e., the stiffness of the spring structure, x is the relative displacement of the input end 301, i.e., the difference in the moving distance between the input end 301 and the output end 302, and the force F of the compliant mechanism 30. h The curve relating the equivalent stiffness K of the compliant mechanism 30 and the relative displacement x of the input end 301 is as follows: Figure 9 and Figure 10 As shown, please refer to the detailed description of the compliant mechanism 30. When the input end 301 moves relative to the compliant mechanism 30, the elastic potential energy of the compliant mechanism 30 in the initial state is 0. When the input end 301 moves relative to the compliant mechanism 30, the balance of the compliant mechanism 30 is disrupted, thus giving the compliant mechanism 30 a certain amount of elastic potential energy. During the recovery process of the compliant mechanism 30, the elastic potential energy is released, which will generate a certain force on the output end 302. This allows the interaction force between the output end 302 and the connector 40 to be adjusted through the output end 302, thereby accurately and stably controlling the human-machine interaction force. In this way, the centaur robot 100 not only has good human-machine interaction coordination, but also reduces the energy consumption of human movement. In addition, the compliant mechanism 30 can play a buffering role, making the human-machine interaction smoother.

[0065] The relative displacement of input terminal 301 is the difference between the displacements of input terminal 301 and output terminal 302. Assuming that output terminal 302 is relatively stationary, the displacement of input terminal 301 is equal to the relative displacement of input terminal 301. The following explanation assumes that output terminal 302 is stationary.

[0066] This application incorporates a compliant mechanism 30 between the front end of the torso 10 of the robot body and the connector 40. The input end 301 of the compliant mechanism 30 can perform linear motion relative to the output end 302. Simultaneously, the compliant mechanism 30 is configured to change its elastic potential energy based on the relative displacement of the input end 301. During the recovery process, the elastic potential energy is released and applied to the connector 40 through the output end, thereby adjusting the interaction force between the output end 302 and the connector 40 in real time. Taking the target object 300 as a human body as an example, when the connector 40 of the centaur robot 100 is connected to the human body for movement, the connection between the front end of the torso 10 and the human body via the compliant mechanism 30 and the connector 40 allows the centaur robot to move smoothly. When the robot 100 is carrying a load and moving on uneven roads, such as climbing slopes or going up and down stairs, the Centaur robot 100 can change the interaction force between itself and the human body in real time according to the magnitude and direction of the displacement of the input end 301. This allows for accurate and stable control of the human-machine interaction force, i.e., determining whether the interaction force is a push or a pull. This not only gives the Centaur robot 100 good human-machine interaction coordination, but also reduces the energy consumption of human movement. In addition, the compliant mechanism 30 can play a buffering role, making the human-machine interaction smoother. In summary, the Centaur robot 100 in this application achieves the goals of adjustable human-machine interaction force, good coordination, and smoother human-machine interaction in various scenarios.

[0067] It should be noted that the compliant mechanism 30 can adopt a spring structure with linear stiffness or a spring structure with nonlinear stiffness. Here, the stiffness of the compliant mechanism 30 refers to its equivalent stiffness, that is, the stiffness of the equivalent spring structure. If the compliant mechanism 30 adopts a spring structure with linear stiffness, a larger stiffness results in a faster response but a smaller buffering effect and a smaller movement distance of the input end 301, thus leading to lower control resolution. Conversely, a smaller stiffness increases the movement distance of the input end 301, thereby improving the control resolution, but also increases the size of the compliant mechanism 30 and results in a slower response.

[0068] Compared to the compliant mechanism 30 which uses a spring structure with linear stiffness, the compliant mechanism 30 uses a non-linear spring structure, which allows the compliant mechanism 30 to achieve the goals of fast response, high control resolution, and strong buffering effect. The following text uses the compliant mechanism 30 with a spring structure with linear stiffness as an example to explain the structure of the compliant mechanism 30 in detail.

[0069] like Figures 5-7As shown, in this embodiment, the compliant mechanism 30 includes a four-bar linkage 31, an antagonistic spring structure 32, a guide rail 33, and an input end 301. The input end 301 is a slider that slides with the guide rail 33. The guide rail 33 extends along a first direction, and one end of the guide rail 33 is connected to the four-bar linkage 31 through the input end 301. The end of the guide rail 33 away from the input end 301 forms an output end 302 at the connection point with the four-bar linkage 31. The antagonistic spring structure 32 is connected between the four-bar linkages 31 along a second direction. The antagonistic spring structure 32 is used to release elastic potential energy to apply an interactive force to the output end 302. The first direction and the second direction are the directions of the two diagonals of the four-bar linkage 31, and the first direction is perpendicular to the second direction.

[0070] The aforementioned four-bar linkage 31 includes four links, with adjacent links rotatably connected. Two links are rotatably connected to both sides of the input end 301 in the first direction, and the remaining two links are rotatably connected to both sides of the input end 301 in the first direction. The four-bar linkage 31 may be, but is not limited to, a rhomboid structure, meaning that the four links are of equal length. In this embodiment, the link connected to the input end 301 is the first link 311, and the link connected to the output end 302 is the second link 312. That is, the four-bar linkage 31 includes two first links 311 and two second links 312.

[0071] The aforementioned antagonistic spring mechanism 32 is a mechanical design that utilizes two or more sets of springs (or other elastic elements) configured in a mutually antagonistic manner. This structure achieves specific functions, such as adjustable stiffness, bidirectional motion control, or energy storage, through tension balance between the springs. In this embodiment, the antagonistic spring mechanism 32 may, but is not limited to, include two sets of springs.

[0072] The input end 301 and the output end 302 are connected by a compliant mechanism 30 and an antagonistic spring structure 32. When the input end 301 moves, the elastic potential energy is released by the deformation of the antagonistic spring structure 32, so that the input end 301 of the compliant mechanism 30 can achieve bidirectional control and stiffness adjustment.

[0073] like Figure 5 and Figure 7As shown, in this embodiment, when the input end 301 moves, the compliant mechanism 30 satisfies the relationship: x = 2L(cosθ0 - cosθ), where: x is the relative displacement of the input end 301, L is the length of the link, θ0 is the initial angle between the link connected to the input end 301, i.e., the first link 311, and the first direction when the compliant mechanism 30 is in equilibrium, i.e., when the input end 301 and the output end 302 of the compliant mechanism 30 are relatively stationary, and θ is the actual angle between the first link 311 and the first direction when the input end 301 moves relative to the output end 302.

[0074] like Figure 5 and Figure 7 As shown, in this embodiment, when the compliant mechanism 30 is in a balanced state, such as Figure 7 When the center is positioned as shown by the dashed line, the compliant mechanism 30 satisfies the following relationship:

[0075] Among them, F s When the compliant mechanism 30 is in equilibrium, it antagonizes the elastic force of the spring structure 32 in the second direction, such as Figure 7 As shown, k is the equivalent stiffness of the antagonistic spring structure 32, x is the relative displacement of the input end 301, L is the length of the link, and θ0 is the initial angle between the first link 311 and the first direction.

[0076] Elasticity F s With force F h Satisfying the relation:

[0077]

[0078] like Figure 7 As shown, when the input terminal 301 moves x from position 301a to position 301b, the antagonistic spring structure 32 is stretched. At this time, F s To express it as tension, according to the elastic force F s With force F h The relationship determines the force F h , Figure 7 The force F in h The force exerted by the connector 40 or the human body on the compliant mechanism 30.

[0079] Figure 6 A schematic diagram of the antagonistic spring structure 32 is shown. Figure 7 A schematic diagram of the motion analysis of the compliant mechanism 30 is shown; Figure 8 A schematic diagram of the antagonistic spring structure 32 is shown, as follows: Figures 6-8As shown, in this embodiment, the antagonistic spring structure 32 includes a first spring 321 and a second spring 322, which are connected in series. The first spring 321 and the second spring 322 are arranged along a third direction, and the third direction, the first direction, and the second direction are parallel to each other.

[0080] With the above settings, the compression of the first spring 321 and the second spring 322 can be adjusted so that the elastic force of the antagonistic spring structure 32 satisfies the above relationship, thereby making the equivalent stiffness of the compliant mechanism 30 nonlinear.

[0081] The first spring 321 and the second spring 322 can be, but are not limited to, compression springs. The antagonistic spring structure 32 includes a first set of springs and a second set of springs. The first set of springs includes two first springs 321 connected in series, and the second set of springs includes two second springs 322 connected in series. The first springs 321 and the second springs 322 are pre-loaded onto the spring slider in a second direction. One end of each compression spring is constrained by the spring slider, and the other end is constrained by the end of its respective spring shaft, but their arrangement is different. The outer end face of the first spring 321 is connected to the spring slider, while the second spring 322 is connected to the spring slider through its inner end face. This unique arrangement allows the two different compression springs to jointly generate an antagonistic force on the spring slider, such as... Figure 8 F1 and F2 are shown in the schematic diagram of the mechanism.

[0082] like Figure 7 and Figure 8 As shown, in this embodiment, the antagonistic spring structure 32 satisfies the following relationship:

[0083] in, Indicates the length variation of the compliant mechanism 30 in the second direction; coefficient This is because the first spring 321 and the second spring 322 are connected in series, and the compression of each spring is half the change in diagonal length. According to the above formula, the antagonistic spring pair composed of the first spring 321 and the second spring 322 can be equivalent to a spring with a stiffness of... A linear tension spring of type k.

[0084] Based on the characteristic that an antagonistic spring is equivalent to a linear antagonistic spring structure along the second direction, when the human and machine undergo relative displacement, the antagonistic spring structure applies a tensile force F to the connecting end in the second direction. s This allows for the output of thrust F at the horizontal end. h ,like Figure 7As shown. Specifically, when the human body moves forward relative to the centaur robot 100 (e.g., the human accelerates forward or the robot lags slightly), causing the compliant mechanism 30 to compress by a displacement x relative to its initial state, the antagonistic spring structure in the second direction is compressed, generating an inward contraction force F. s The pulling force is converted into a pair of forces at the output end 302 through the four-bar linkage 31, namely the compressive force F. h The force is applied to the front end of the torso 10 and the connector 40 respectively, and indirectly to the back of the human body (center of mass).

[0085] Specifically, when the compliant mechanism 30 is not subjected to external force, the first spring 321 generates an antagonistic force corresponding to the pre-compression force of the second spring 322 to maintain the balance of the entire mechanism. When the antagonistic spring structure 32 is relatively compressed, assuming the output end 302 is stationary, the first spring 321 is stretched while the second spring 322 is compressed. Their elastic forces antagonize each other, resulting in a resultant force inward. Simultaneously, the second spring 322 is mounted on the upper spring shaft, which consists of a long adjusting bolt and an adjusting nut. By rotating the adjusting bolt, the pre-compression of the second set of springs can be changed, thereby changing the elastic force of the second set of springs. This change in the second set of springs will cause the spring slider to translate, thereby adjusting the compression of the first set of springs accordingly, allowing the compliant mechanism 30 to maintain balance at the new mechanism angle. Therefore, the compliant mechanism 30 can modify the initial angle between the first connecting rod 311 and the first direction, thereby responding to changes in the output force F of the compliant mechanism 30. h Curve, force F h The simulation curves of the relative displacement x of input terminal 301 and the equivalent stiffness K of compliant mechanism 30 are as follows: Figure 9 and Figure 10 As shown.

[0086] like Figure 5 As shown, in this embodiment, the first link 311 is provided with an angle sensor 54, which is used to detect the angle between the first link 311 and the first direction.

[0087] The angle sensor 54 mentioned above can be, but is not limited to, an encoder.

[0088] With the above settings and the structure of the compliant mechanism 30, the angle between the first link 311 and the first direction obtained by the angle sensor 54 can be used to calculate the moving distance of the input end 301, which prepares for the elastic force of the subsequent antagonistic spring structure 32.

[0089] In this embodiment, the Centaur robot 100 also includes a controller electrically connected to an angle sensor 54. The controller determines the movement distance of the input end 301 based on the angle between the first link 311 and the first direction detected by the angle sensor 54, thereby determining the elastic force of the antagonistic spring structure 32, and ultimately determining the magnitude of the interaction force between the compliant mechanism 30 and the human body. This achieves precise control and adjustment of the interaction force between the Centaur robot 100 and the human body.

[0090] Of course, a displacement sensor can also be installed on the compliant mechanism 30 to directly measure the moving distance of the moving end; no specific limitation is made here.

[0091] The structure of output terminal 302 will be described in detail below.

[0092] like Figure 6 and Figure 11 As shown, in this embodiment, the output end 302 includes a base plate 3021, a sleeve 3022, and two connecting ears 3023. The sleeve 3022 is disposed on one side surface of the base plate 3021, and the axis of the sleeve 3022 is parallel to the thickness direction of the base plate 3021. The sleeve 3022 is sleeved on the end of the guide rail 33 away from the input end 301. In the second direction, the two connecting ears 3023 are symmetrically disposed on the outer surface of the sleeve 3022. The connecting rod connected to the output end 302 is the second connecting rod 312. The two connecting ears 3023 and the two second connecting rods 312 are rotatably connected.

[0093] With the above settings, not only is the output end 302 firmly connected to the four-bar linkage 31, but the design of the base plate 3021 also helps to increase the contact area at the connection between the output end 302 and the connector 40. This makes the output end 302 firmly connected to the connector 40, while also helping to disperse the interaction force between the output end 302 and the human body through the connector 40.

[0094] To improve the connection between the sleeve 3022 and the base plate 3021, two reinforcing ribs are provided on the outer surface of the sleeve 3022, and the two reinforcing ribs are spaced apart from the two connecting ears 3023. This improves the reliability of the output end 302.

[0095] The connector 40 will be described in detail below.

[0096] like Figure 2 and Figure 4 As shown, in this embodiment, the connector 40 includes a back plate and a shoulder strap. The back plate is connected to the output end 302, and the shoulder strap can be bound to or worn through the target object 300.

[0097] The aforementioned shoulder straps serve to connect the body to the human body.

[0098] When the straps of the connector 40 are tied to the human body or worn on the back of the human body, the back plate of the connector 40 fits against the back of the human body, thus increasing the contact area with the human body and improving the comfort of wearing it.

[0099] like Figure 2 and Figure 4 As shown, in this embodiment, the back plate and the base plate 3021 of the output terminal 302 are arranged parallel to each other. This ensures that the output terminal 302 is firmly connected to the connector 40.

[0100] like Figure 4 As shown, in this embodiment, the shoulder strap includes two shoulder straps and a waist belt.

[0101] The aforementioned shoulder straps can be worn on the shoulders of the body, and the waist belt can be tied around the waist.

[0102] The above settings ensure that the connector 40 is securely and comfortably connected to the human body.

[0103] Of course, the above-mentioned straps may also include only shoulder straps or waist belts.

[0104] like Figure 4 As shown, in this embodiment, the aforementioned carrying strap can be connected to the carrying strap via a pad. The pad can be, but is not limited to, made of elastic materials such as sponge, which can act as a cushioning agent, thereby further improving comfort.

[0105] Of course, in other embodiments, the straps can also be directly connected to the back panel, which is not specifically limited here.

[0106] like Figure 6 and Figure 11 As shown, in this embodiment, the centaur robot 100 further includes a support rod 51 and a connecting shaft 52. One end of the support rod 51 is connected to the input end 301, and the other end of the support rod 51 is rotatably connected to the front end of the torso 10 via the connecting shaft 52, so that the compliant mechanism 30 can rotate around the connecting shaft 52. The axis of the connecting shaft 52 is parallel to the fourth direction, and the fourth direction, the height direction of the centaur robot 100, and the travel direction of the robot body are all perpendicular to each other. In this embodiment, the fourth direction is parallel to the fourth direction.

[0107] The plane in which the compliant mechanism 30 is located is changed by rotating the support rod 51 about the connecting shaft 52, for example, as Figure 2As shown, in the initial state, the plane of the compliant mechanism 30 is parallel to the horizontal plane and the ground. When the centaur moves on uneven ground, the compliant mechanism 30 rotates with the support rod 51 and the connecting shaft 52, causing the plane of the compliant mechanism 30 to change. That is, the compliant mechanism 30 is tilted relative to the horizontal plane. In this way, it can not only adapt to different slopes, such as going up and down slopes or stairs, but also adapt to wearers of different heights without changing the robot body, thus having a wide range of applications.

[0108] like Figure 2 and Figure 11 As shown, in this embodiment, the support rod 51 includes a first end 511 connected to the input end 301 and a second end 512 connected to the connecting shaft 52. In the height direction of the Centaur robot 100, the first end 511 is located above the second end 512.

[0109] The aforementioned support rod 51 may be inclined relative to a third direction, but is not limited to.

[0110] With the above arrangement, the front end of the torso 10 and the input end 301 of the compliant mechanism 30 are aligned in the traveling direction of the centaur robot 100. Figure 2 The horizontal direction (i.e., the first direction) and the third direction are offset upwards, which helps to optimize the spatial arrangement at the connection between the torso 10 and the compliant mechanism 30.

[0111] In some embodiments, the length of the support rod 51 is adjustable, and the support rod 51 is at least used to change the height difference between the front end and the input end 301 in the height direction of the Centaur robot 100. That is, when the support rod 51 rotates about the connecting shaft 52, the distance between the connecting shaft 52 and the input end 301 changes in the first direction and the third direction. In this way, the length of the support rod 51 can be adjusted according to different human heights, so that the connector 40 can be adapted to the human body. In other embodiments, the length of the support rod 51 is not adjustable, which is not specifically limited here.

[0112] like Figure 2 and Figure 11 As shown, in this embodiment, the centaur robot 100 also includes a force sensor 53.

[0113] The force sensor 53 described above is used to detect the interaction force between the centaur robot 100 and the human body. The force sensor 53 may be, but is not limited to, a six-axis force sensor.

[0114] A six-axis force sensor is a precision measuring device that can simultaneously measure forces (Fx, Fy, Fz) in three directions and torques (Mx, My, Mz) in three directions.

[0115] It should be noted that xyz here refers to the three coordinate axes of Centaur Robot 100 in the absolute coordinate system, where the z-axis is the height direction of Centaur Robot 100.

[0116] When the compliant mechanism 30 is in xoy, the first direction and the second direction are parallel to the x-axis and y-axis, respectively. At this time, the interaction force between the human body and the centaur robot 100 is mainly the x-axis, that is, the force in the first direction. Of course, in this embodiment, since the compliant mechanism 30 and the front end of the torso 10 are rotatably connected through the support rod 51 and the connecting shaft 52, the compliant mechanism 30 can rotate relative to the torso 10, that is, the compliant mechanism 30 can tilt relative to the z-axis. At this time, the input end 301 and the output end 302 are not coplanar. The modulus of the interaction force of the compliant mechanism 30 at the input end 301 and the output end 302 is always equal. That is, the magnitude of the interaction force between the human body and the centaur robot 100 remains unchanged, only the direction changes.

[0117] like Figure 2 and Figure 11 As shown, in this embodiment, the force sensor 53 is disposed between the front end of the torso 10 and the input end 301. This not only improves detection accuracy but also enhances the space utilization of the Centaur robot 100, making human-machine interaction forces measurable.

[0118] like Figure 2 , Figure 11 and Figure 12 As shown, in this embodiment, the force sensor 53 is disposed on the front baffle 11 of the torso 10. The force sensor 53 is provided with a flange 55, which is rotatably connected to the connecting shaft 52 so that the support rod 51 can rotate relative to the flange 55 around the connecting shaft 52.

[0119] Force sensor 53 is used to detect the interaction force between compliant mechanism 30 and connector 40. Since compliant mechanism 30 is a spring structure, the interaction force between input end 301 and output end 302 is a pair of action and reaction forces, equal in magnitude and opposite in direction. It should be noted that when input end 301 and output end 302 are not coplanar, coordinate transformation is required, but the modulus of the interaction force between input end 301 and output end 302 is always equal. In some embodiments, force sensor 53 may also be disposed between output end 302 and connector 40. This is not specifically limited.

[0120] The robot's main body will be described in detail below.

[0121] like Figure 3 , Figures 12-14As shown, in this embodiment, the centaur robot 100 also includes a drive mechanism 60 disposed at the rear end of the torso 10. The drive mechanism 60 includes a first hip joint motor 61, a second hip joint motor 62, and a knee joint motor 63. The first hip joint motor 61 is used to drive the second hip joint motor 62, the knee joint motor 63, and the mechanical leg 20 to rotate as a whole. The mechanical leg 20 includes a thigh 21, a lower leg 22, and a knee joint linkage 25 transmission mechanism. The thigh 21 is connected to the second hip joint motor 62, and the second hip joint motor 62 is used to drive the thigh 21 to flex or extend. The lower leg 22 is connected to the knee joint motor 63 through the knee joint linkage 25 transmission mechanism, and the knee joint motor 63 is used to drive the lower leg 22 to flex or extend.

[0122] The three degrees of freedom of the robotic leg 20 refer to the flexion / extension of the thigh 21 (hip joint 64), the flexion / extension of the lower leg 22 (knee joint 24), and the overall rotation of the robotic leg 20, specifically the rotation of the hip joint 64 connecting the robotic leg 20 to the torso 10, enabling the robotic leg 20 to rotate as a whole. The first hip joint motor 61 controls the abduction / adduction joint of the hip joint 64; the second hip joint motor 62 controls the flexion / extension joint of the hip joint; and the knee joint motor 63 controls the flexion / extension joint of the knee joint 24. This joint configuration gives the robotic leg 20 similar mobility to a human leg, allowing for flexible movement in three-dimensional space and supporting omnidirectional (all-around / all-direction) walking and posture adjustment. Through the coordinated movement of the two robotic legs 20, the Centaur robot 100 can achieve six degrees of freedom of center of mass motion control (position and posture), ensuring balance and maneuverability on various complex terrains. The joint layout of the robotic leg 20 allows its range of motion to cover the main range required for human walking, enabling coordination with human gait.

[0123] By placing the drive mechanism 60 at the rear end of the torso 10, the mechanical leg 20 achieves three degrees of freedom while the center of gravity of the torso 10 shifts rearward, meaning the center of gravity of the torso 10 is closer to the rear end. This layout optimizes the overall mass distribution during human-machine coupling, minimizing the interference of the centaur robot 100's weight and size on human walking, resulting in better stability and coordination when the centaur robot 100 moves. Furthermore, the lower leg 22 is connected to the knee joint motor 63 via the knee joint linkage 25 transmission mechanism. The knee joint motor 63 drives the lower leg 22 to flex or extend. This optimizes the structure of the mechanical leg 20, reduces its weight, and improves its mobility. Simultaneously, it reduces the load on the drive mechanism 60, thus reducing its weight and consequently the overall weight of the robot body.

[0124] The aforementioned torso 10 employs a symmetrical double "spine" plate structure. For example... Figure 12As shown, the torso 10 includes a front baffle 11, a rear baffle 12, and two side plates 13 spaced apart between the front baffle 11 and the rear baffle 12. The front end of the torso 10 is the end near the front baffle 11, and the force sensor 53 is connected to the front baffle 11. The rear end of the torso 10 is the end near the rear baffle 12. The two side plates 13 are similar to double "spine" plates, thus realizing a double "spine" plate structure.

[0125] A first partition 14 is provided between the two side plates 13, dividing the torso 10 into a front accommodating area 101 and a rear accommodating area 102 along the traveling direction of the centaur robot 100.

[0126] Typically, the Centaur robot 100 also includes a battery, controller, computing unit, and various sensors. The battery is located in the front housing area 101, while the controller, computing unit, and various sensors are located in the rear housing area 102. Specifically, a second partition 15 is provided between the two side panels 13, dividing the torso 10 into an upper layer 103 and a lower layer 104 along the height direction of the Centaur robot 100. The controller, computing unit, and various sensors are placed in the upper layer 103 and the lower layer 104 as needed. In this way, the overall center of gravity of the Centaur robot 100 is shifted as far back as possible. This layout optimizes the overall mass distribution during human-machine coupling and minimizes the interference of the Centaur robot 100's weight and size on the natural walking of the human body.

[0127] During the design process, the torso 10 is typically made of high-strength, lightweight carbon fiber material, which allows the torso 10 to provide sufficient structural strength while also reducing its weight. In this embodiment, the overall dimensions of the torso 10 of the centaur robot 100 are approximately 630mm (length) × 140mm (width) × 240mm (height), making it compact and easy for a person to carry. The mechanical legs 20 use a carbon fiber frame, and the optimized mass distribution design ensures that the robot body provides sufficient strength to support the load while minimizing the impact on the wearer's movement.

[0128] like Figure 13 and Figure 14 As shown, in this embodiment, the knee joint linkage 25 transmission mechanism includes a crank 23, a knee joint 24, and a knee joint linkage 25. The crank 23 is connected to the knee joint motor 63. The lower leg 22 and the thigh 21 are rotatably connected through the knee joint 24. One end of the knee joint linkage 25 is rotatably connected to the crank 23, and the other end of the knee joint linkage 25 is rotatably connected to the lower leg 22 and the thigh 21 through the knee joint 24.

[0129] With the above configuration, the transmission mechanism of the lower leg 22, thigh 21 and knee joint linkage 25 in the mechanical leg 20 constitutes the crank 23 rocker mechanism, which makes the mechanical leg 20 have a parallelogram-shaped link mechanism. While achieving three degrees of freedom, it further optimizes the structure of the mechanical leg 20 and reduces the overall weight of the mechanical leg 20, which is conducive to improving the reliability of the mechanical leg 20 and making the mechanical leg 20 move reliably.

[0130] like Figure 3 As shown, in this embodiment, there are two drive mechanisms 60, and each drive mechanism 60 is connected to one of the two mechanical legs 20. This allows the two mechanical legs 20 to be controlled individually through their respective drive mechanisms 60, which helps improve the control precision of the mechanical legs 20.

[0131] like Figure 2 , Figure 13 and Figure 14 As shown, in this embodiment, the shaft of the second hip joint motor 62 and the shaft of the knee joint motor 63 are coaxially arranged.

[0132] With the above arrangement, the second hip joint motor 62 and the knee joint motor 63 are arranged in a symmetrical manner. This not only significantly reduces the rotational inertia at the knee joint 24 and the load on the distal end of the leg, which is beneficial to improving control response and reducing energy consumption, but also reduces the overall space occupied by the drive mechanism 60. In addition, it is convenient to connect the second hip joint motor 62 and the knee joint motor 63 together with the first hip joint motor 61 through the connector 65, thereby improving the space utilization of the robot body.

[0133] like Figure 12 , Figure 13 and Figure 15 As shown, specifically, the second hip joint motor 62 and the first hip joint motor 61 are mounted on the side plate 13 of the torso 10. The first hip joint motor 61 is connected to the second hip joint motor 62 via a hip joint 64. The second hip joint motor 62 and the knee joint motor 63 are connected by a connector 65. The axis of rotation of the first hip joint motor 61 is parallel to the axis of crank 23, and there is an offset distance between the axis of rotation of the first hip joint motor 61 and the axis of thigh 21. That is, in the axial direction of the axis of rotation of the second hip joint motor 62, the distance between the axis of rotation of the first hip joint motor 61 and the axis of thigh 21 is l. ext ,like Figure 13 As shown.

[0134] Figure 15A simplified kinematic diagram of the mechanical leg 20 in the robot body relative to the torso 10 is shown. The mechanical leg 20 has a parallelogram-shaped linkage mechanism, which can be equivalent to a mechanical leg 20 with three series joints: l1, l2, and l3. Here, l1 is the length of the hip joint 64, specifically the distance between the axis of rotation of the first hip joint motor 61 and the axis of the thigh 21; l2 is the length of the thigh 21; and l3 is the length of the lower leg 22. Taking the mechanical leg 20 on the right side of the Centaur robot 100 as an example, the DeNavit-hartenberg (DH) parameters of this mechanical leg 20 are shown in Table 1.

[0135] Table 1

[0136]

[0137] Figure 15 The dashed lines in the diagram indicate the initial zero-position state of the robotic leg 20, where both the joint angles and motor angles are defined as zero. In the series configuration, the joint angles of the robotic leg 20 are denoted as q1, q2, and q3. Figure 15 In the diagram, q1 is the joint angle of the hip joint 64, q2 is the joint angle of the thigh 21, and q3 is the joint angle of the lower leg 22, that is, the joint angle of the lower leg 22 relative to the thigh 21 in relative rotation. knee The joint angle at point 24 of the knee joint, q knee The joint angle of the mechanical leg 20 is equal to the sum of q2 and q3; the joint angle of the mechanical leg 20 is equal to the joint angle q2 of the thigh 21. Based on the geometric relationship of the parallelogram mechanism, the mechanical leg 20 of this application can map the joint angles of the series configuration to the motor angles. After mapping, the corresponding motor angles are expressed as follows: the joint angle of the first hip joint motor 61 is q1; the joint angle of the second hip joint motor 62 is q2; and the joint angle of the knee joint motor 63 is q... knee It equals the sum of q2 and q3.

[0138] Combination Figure 15 The key dimensions and joint range of motion of the robotic leg 20 have been optimized to avoid mechanical interference and meet the requirements of human-machine collaboration. The DH parameters of the robotic leg 20 are shown in Table 1. Through the selection of the above dimensions and kinematic parameters, the robotic leg 20 has sufficient stride length and lift to adapt to obstacles without affecting the normal human gait. Each robotic leg 20 is driven by a high-performance motor, providing a peak torque output of up to approximately 140 N·m, capable of supporting and driving heavy loads.

[0139] Based on the above design, the robot body can transfer the load carried by the wearer to two strong mechanical legs 20 through the rigid torso 10, and then be supported on the ground by all four legs (human legs and mechanical legs). The high-strength spine frame torso 10 and the high-torque joint design ensure that the robot body can withstand large loads, remain stable during walking, and not deform or become unbalanced, thus reliably distributing the weight to the wearer.

[0140] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A centaur robot, characterized in that, include: The robot body includes a torso (10) and two mechanical legs (20). The torso (10) is used to carry a heavy object (200). The mechanical legs (20) have three degrees of freedom and are connected to the rear end of the torso (10). A connector (40) for connecting to a target object (300) having two legs; A compliant mechanism (30) is disposed between the front end of the torso (10) and the connector (40). The compliant mechanism (30) includes an input end (301) and an output end (302). The output end (302) is connected to the connector (40). The input end (301) is capable of linear motion relative to the output end (302). The compliant mechanism (30) is configured to change the elastic potential energy of the compliant mechanism (30) according to the relative displacement of the input end (301), thereby adjusting the force between the output end (302) and the connector (40).

2. The centaur robot according to claim 1, characterized in that, The compliant mechanism (30) is a spring structure, and the stiffness of the spring structure is non-linear.

3. The centaur robot according to claim 1, characterized in that, The compliant mechanism (30) includes a four-bar linkage (31), an antagonistic spring structure (32), a guide rail (33) and the input end (301), wherein the input end (301) is a slider that slides in cooperation with the guide rail (33); The guide rail (33) extends along a first direction. One end of the guide rail (33) is connected to the four-bar linkage (31) through the input end (301). The output end (302) is formed at the connection between the end of the guide rail (33) away from the input end (301) and the four-bar linkage (31). The antagonistic spring structure (32) is connected between the four-bar linkage (31) along the second direction. The antagonistic spring structure (32) is used to release the elastic potential energy and apply the force to the output end (302). Wherein, the first direction and the second direction are the directions of the two diagonals of the four-bar linkage, and the first direction and the second direction are perpendicular to each other.

4. The centaur robot according to claim 3, characterized in that, The four-bar linkage (31) includes four links, two adjacent links are rotatably connected, two links are rotatably connected to the two sides of the input end (301) in the first direction, and the remaining two links are rotatably connected to the two sides of the input end (301) in the first direction. The four links are of equal length.

5. The centaur robot according to claim 4, characterized in that, The link connected to the input terminal (301) is a first link (311). The first link (311) is equipped with an angle sensor (54). The angle sensor (54) is used to detect the angle between the first link (311) and the first direction.

6. The centaur robot according to claim 4, characterized in that, The output end (302) includes a base plate (3021), a sleeve (3022), and two connecting ears (3023). The sleeve (3022) is disposed on one side surface of the base plate (3021). The axis of the sleeve (3022) is parallel to the thickness direction of the base plate (3021). The sleeve (3022) is sleeved on the end of the guide rail (33) away from the input end (301). In the second direction, the two connecting ears (3023) are symmetrically disposed on the outer surface of the sleeve. The connecting rod connected to the output end (302) is a second connecting rod (312). The two connecting ears (3023) and the two second connecting rods (312) are rotatably connected.

7. The centaur robot according to claim 3, characterized in that, The antagonistic spring structure (32) includes a first spring (321) and a second spring (322), the first spring (321) and the second spring (322) are connected in series, the first spring (321) and the second spring (322) are arranged along a third direction, and the third direction, the first direction and the second direction are parallel to each other.

8. The centaur robot according to any one of claims 4 to 7, characterized in that, The compliant mechanism (30) satisfies the following relationship: x = 2L(cosθ0 - cosθ) Where: x is the relative displacement of the input end (301), L is the length of the link, θ0 is the initial angle between the link connected to the input end (301) and the first direction when the compliant mechanism (30) is in equilibrium, that is, when the input end (301) and the output end (302) of the compliant mechanism (30) are relatively stationary, and θ is the actual angle between the link connected to the input end (301) and the first direction; And / or, When the compliant mechanism (30) is in equilibrium, the compliant mechanism (30) satisfies the following relationship: Among them, F s When the compliant mechanism (30) is in equilibrium, the elastic force of the antagonistic spring structure in the second direction is given by k, the equivalent stiffness of the antagonistic spring structure is given by x, the relative displacement of the input end (301) is given by L, the length of the connecting rod is given by θ0, and the initial angle of the angle between the connecting rod connected to the input end (301) and the first direction is given by θ0.

9. The centaur robot according to any one of claims 1 to 7, characterized in that, The centaur robot also includes a support rod (51) and a connecting shaft (52). One end of the support rod (51) is connected to the input end (301), and the other end of the support rod (51) is rotatably connected to the front end of the torso (10) through the connecting shaft (52) so that the compliant mechanism (30) can rotate around the connecting shaft (52). The axis of the connecting shaft (52) is parallel to the fourth direction, and the fourth direction, the height direction of the centaur robot, and the travel direction of the robot body are perpendicular to each other.

10. The centaur robot according to claim 9, characterized in that, The length of the support rod (51) is adjustable, and the support rod (51) is used at least to change the height difference between the front end and the input end (301) in the height direction of the centaur robot; And / or, the support rod (51) includes a first end connected to the input end (301) and a second end connected to the connecting shaft (52), with the first end located above the second end in the height direction of the centaur robot.

11. The centaur robot according to any one of claims 1 to 7, characterized in that, The connector (40) includes a back plate (41) and a shoulder strap (42). The back plate (41) is connected to the output end (302), and the shoulder strap (42) can be bound to or worn on the target object (300).

12. The centaur robot according to any one of claims 1 to 7, characterized in that, It also includes a force sensor (53), The force sensor (53) is disposed between the front end of the torso (10) and the input end (301), or the force sensor (53) is disposed between the output end (302) and the connector (40).

13. The centaur robot according to any one of claims 1 to 7, characterized in that, It also includes a drive mechanism (60) located at the rear end of the torso (10), the drive mechanism (60) including a first hip joint motor (61), a second hip joint motor (62) and a knee joint motor (63), the first hip joint motor (61) being used to drive the second hip joint motor (62), the knee joint motor (63) and the mechanical leg (20) to rotate as a whole; The mechanical leg (20) includes a thigh (21), a lower leg (22), and a knee joint linkage transmission mechanism. The thigh (21) is connected to the second hip joint motor (62), which is used to drive the thigh (21) to flex or extend. The lower leg (22) is connected to the knee joint motor (63) through the knee joint linkage transmission mechanism, which is used to drive the lower leg (22) to flex or extend.

14. The centaur robot according to claim 13, characterized in that, The knee joint linkage transmission mechanism includes a crank (23), a knee joint (24), and a knee joint linkage (25). The crank (23) is connected to the knee joint motor (63). The lower leg (22) and the thigh (21) are rotatably connected through the knee joint (24). One end of the knee joint linkage (25) is rotatably connected to the crank (23), and the other end of the knee joint linkage (25) is rotatably connected to the lower leg (22) and the thigh (21) through the knee joint (24).

15. The centaur robot according to claim 14, characterized in that, The shaft of the second hip joint motor (62) and the shaft of the knee joint motor (63) are coaxially arranged; And / or, the number of the drive mechanism (60) is two, and the two drive mechanisms (60) are connected to the two mechanical legs (20) in a one-to-one correspondence.

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