A humanoid robot

Abstract

The utility model discloses a humanoid robot, include: mobile base is formed with U shape wedge structure, shank is with mobile base rotates and is connected along front -back direction, thigh is with shank rotates and is connected along front -back direction, upper body structure is with thigh swing joint, shank can rotate to the intermediate position of U shape wedge structure, the thigh can rotate to both sides position of U shape wedge structure to make humanoid robot present the knee -bending attitude. When shank rotates to the intermediate position of U shape wedge structure, thigh rotates to both sides position of U shape wedge structure, then humanoid robot presents the knee -bending attitude, and U shape wedge structure can support thigh, make upper body structure keep stable, and it is not easy to tilt or sway.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a humanoid robot. Background Technology

[0002] Humanoid robots are robots modeled after the human body shape and various body parts. Legged robots lack stability and may fall when walking and performing basic tasks. Wheel-type robots have better stability during movement.

[0003] In existing technologies, the center of gravity of robots is relatively high, and the improvement of mobility stability of wheel-type robots is limited, leaving room for further improvement in mobility stability.

[0004] Therefore, existing technologies still need to be improved and developed. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a humanoid robot that addresses the above-mentioned deficiencies of the prior art, aiming to solve the problem that there is still room for improvement in the mobility stability of the existing wheel-type robot.

[0006] The technical solution adopted by this utility model to solve the technical problem is as follows:

[0007] In a first aspect, the present invention provides a humanoid robot, comprising:

[0008] The movable base forms a U-shaped wedge structure;

[0009] The lower leg is rotatably connected to the movable base in the front-to-back direction;

[0010] The thigh is rotatably connected to the lower leg in a front-back direction;

[0011] The upper body structure is movably connected to the thigh.

[0012] The lower leg can be rotated to the middle position of the U-shaped wedge structure, and the thigh can be rotated to the two sides of the U-shaped wedge structure, so that the humanoid robot is in a bent-knee posture.

[0013] In other embodiments of this utility model, the movable base includes:

[0014] A first housing, wherein the upper surface of the first housing forms the U-shaped wedge structure;

[0015] A double-layer frame is located inside the first housing;

[0016] The first driving component is disposed on the lower layer of the double-layer frame;

[0017] A drive wheel is located outside the first housing and connected to the first drive component;

[0018] The driven wheel is located outside the first housing and is movably connected to the double-layer frame;

[0019] The lower leg is rotatably connected to the upper layer of the double-layer frame.

[0020] In other embodiments of this utility model, a cylindrical groove is formed at the bottom of the first housing, and the driven wheel is located in the cylindrical groove and rotatably connected to the first housing.

[0021] In other embodiments of this utility model, the movable base further includes:

[0022] Both the radar and the camera are mounted on the first housing;

[0023] The power supply is located on the lower layer of the double-layer frame;

[0024] The power supply is configured to supply power to the radar, the camera, and the first drive unit.

[0025] In other embodiments of this utility model, the camera is a depth camera.

[0026] In other embodiments of this utility model, the first housing includes: an upper housing and a lower housing connected to each other; the upper housing includes:

[0027] Middle section;

[0028] The left wedge is located on the left side of the middle plate;

[0029] The right wedge is located on the right side of the middle plate;

[0030] Connecting part;

[0031] The left wedge, the connecting part, and the right wedge are sequentially connected to form the U-shaped wedge structure.

[0032] The U-shaped wedge structure is provided with multiple reinforcing plates, and the reinforcing plates and the middle plate abut against the upper layer of the double-layer frame.

[0033] In other embodiments of this utility model, the lower leg includes:

[0034] Second shell;

[0035] Two first upright plates are located inside the second housing;

[0036] The second driving component is disposed at the lower end of the first upright plate, and the output shaft of the second driving component is connected to the movable base.

[0037] The third driving component is located at the upper end of the first upright plate;

[0038] The second driving component is located between the two first upright plates.

[0039] In other embodiments of this utility model, the thigh includes:

[0040] Two second vertical plates are connected to the output shaft of the third driving component;

[0041] The two second uprights are located on either side of the lower leg.

[0042] In other embodiments of this utility model, the upper body structure includes:

[0043] Third shell;

[0044] Two third upright plates are located inside the third housing;

[0045] A fourth driving component is disposed on the third upright plate, and the output shaft of the fourth driving component is connected to the second upright plate;

[0046] A connecting plate is located inside the third housing and is connected to the two third upright plates;

[0047] The frame is located within the third housing;

[0048] The fifth driving component is disposed on the frame and connected to the connecting plate.

[0049] In other embodiments of this utility model, the upper body structure further includes:

[0050] The two arms are movably connected to the frame, respectively;

[0051] The head is movably connected to the frame.

[0052] Beneficial effects: When the lower leg rotates to the middle position of the U-shaped wedge structure, and the thigh rotates to the sides of the U-shaped wedge structure, the humanoid robot will be in a bent-knee posture. The U-shaped wedge structure can support the thigh, making the upper body structure stable and less prone to tilting or swaying. Attached Figure Description

[0053] Figure 1 This is a structural schematic diagram of the humanoid robot in a standing posture according to an embodiment of this utility model.

[0054] Figure 2 yes Figure 1 Sectional view along line A.

[0055] Figure 3 This is a structural schematic diagram of the humanoid robot in a bent-knee posture in an embodiment of this utility model.

[0056] Figure 4 This is a partial cross-sectional view of the humanoid robot in an embodiment of this utility model.

[0057] Figure 5 This is a schematic diagram of the internal structure of the lower leg and thigh of the humanoid robot in this embodiment of the utility model.

[0058] Figure 6 This is a schematic diagram of the first structure of the mobile chassis in an embodiment of this utility model.

[0059] Figure 7 This is a schematic diagram of the second structure of the mobile chassis in an embodiment of this utility model.

[0060] Figure 8 This is an exploded view of the mobile chassis in an embodiment of this utility model.

[0061] Figure 9 This is a schematic diagram of the upper shell structure in an embodiment of this utility model.

[0062] Explanation of reference numerals in the attached figures:

[0063] 10. Movable base; 101. U-shaped wedge structure; 11. First shell; 111. Upper shell; 1111. Middle plate; 1112. Left wedge; 1113. Right wedge; 1114. Connecting part; 1115. Reinforcing plate; 1116. Baffle; 112. Lower shell; 1121. Cylindrical groove; 12. Double-layer frame; 13. Drive wheel; 14. Driven wheel; 15. Radar; 16. Camera; 17. Power supply;

[0064] 20. Lower leg; 21. Second housing; 22. First upright plate; 23. Second driving component; 24. Third driving component;

[0065] 30. Thigh; 31. Second upright board;

[0066] 40. Upper body structure; 41. Third shell; 42. Third upright plate; 43. Fourth drive component; 44. Connecting plate; 45. Frame; 46. Fifth drive component; 47. Arm; 48. Head. Detailed Implementation

[0067] To make the objectives, technical solutions, and advantages of this utility model clearer and more explicit, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0068] Please also refer to Figures 1-9 This utility model provides some preferred embodiments of a humanoid robot.

[0069] like Figure 1As shown, the humanoid robot of this utility model includes a movable base 10. The movable base 10 is movable, thus enabling the humanoid robot to move, specifically moving along the front-back direction and turning. A U-shaped wedge structure 101 is formed on the movable base 10. The U-shaped wedge structure 101 is U-shaped in overall shape, with wedge structures on both the left and right sides, each wedge being smaller at one end and larger at the other. The U-shaped wedge structure 101 has a middle position and two side positions. The middle position of the U-shaped wedge structure 101 is a gap that can accommodate the lower leg 20, while the two side positions are wedge structures. The humanoid robot includes a lower leg 20 and a thigh 30. The humanoid robot uses a single leg, meaning it has only one leg, which is divided into two parts: the lower leg 20 and the thigh 30. The lower leg 20 is rotatably connected to the movable base 10, and the thigh 30 is rotatably connected to the lower leg 20. The lower leg 20 can rotate relative to the movable base 10 in the front-back direction, and the thigh 30 can rotate relative to the lower leg 20 in the front-back direction. The humanoid robot includes an upper body structure 40. The upper body structure 40 is movably connected to the thighs 30. When the lower legs 20 rotate to the middle position of the U-shaped wedge structure 101, the thighs 30 rotate to the sides of the U-shaped wedge structure 101, and the humanoid robot assumes a bent-knee posture. The U-shaped wedge structure 101 can support the thighs 30, so that the upper body structure 40 remains stable and is not easy to tilt or sway.

[0070] like Figure 1 As shown, the mobile base 10 includes a radar 15. The radar 15 is located on the front side of the mobile base 10, transmitting and receiving radar signals in front of the mobile base 10. The mobile base 10 also includes a camera 16. The camera 16 is located on the front side of the mobile base 10, acquiring images of the front of the mobile base 10. The camera 16 can also be located on the rear side of the mobile base 10 (see...). Figure 2 The camera 16 can be a depth camera to acquire three-dimensional images. The mobile base 10 also includes drive wheels 13. Drive wheels 13 can rotate relative to the ground, thus enabling the mobile base 10 to move. The mobile base 10 also includes driven wheels 14. Driven wheels 14 follow drive wheels 13 and also rotate relative to the ground. There can be two drive wheels 13 and at least one driven wheel 14; using at least three wheels improves the stability of the mobile base 10. The humanoid robot also includes arms 47. Arms 47 are movably connected to the upper body structure 40. There can be two arms 47, located on either side of the upper body structure 40. The humanoid robot also includes a head 48. The head 48 is movably connected to the upper body structure 40.

[0071] like Figure 2As shown, the movable base 10 includes a first housing 11. A U-shaped wedge structure 101 is formed on the upper surface of the first housing 11. When the lower leg 20 and thigh 30 rotate and retract, the thigh 30 can contact the U-shaped wedge structure 101, thus lowering the height of the upper body structure 40. Furthermore, under the limiting effect of the U-shaped wedge structure 101, the thigh 30 and upper body structure 40 are more stable. The movable base 10 includes a double-layer frame 12. The double-layer frame 12 is located inside the first housing 11 and has an upper layer and a lower layer (see...). Figure 8 The lower leg 20 is rotatably connected to the upper layer of the double-layer frame 12, and the upper layer supports the lower leg 20. The movable base 10 includes a first driving member. The first driving member is disposed on the lower layer of the double-layer frame 12 and is connected to the corresponding driving wheel 13. The first driving member drives the corresponding driving wheel 13 to rotate. When two driving wheels 13 are used, two first driving members can be configured to drive the corresponding driving wheels 13 respectively. When the two first driving members drive the corresponding driving wheels 13 to rotate synchronously, the movable base 10 can move forward or backward. When the two first driving members drive the corresponding driving wheels 13 to rotate asynchronously, the movable base 10 can turn. The diameter of the driving wheel 13 is larger than the diameter of the driven wheel 14, and the driving wheel 13 has higher strength. The two driving wheels 13 are located near the rear side of the movable base 10, and the lower leg 20 is also located near the rear side of the movable base 10. When the humanoid robot is in a standing posture, the center of gravity of the humanoid robot is rearward, and the entire humanoid robot is mainly supported by the driving wheels 13. Driven wheel 14 is movably connected to the first housing 11 or to the double-layer frame 12. The movable base 10 includes a power supply 17, which is located on the lower layer of the double-layer frame 12. The power supply 17 is electrically connected to the radar 15 and the camera 16 and supplies power to the radar 15 and the camera 16. The power supply 17 is also electrically connected to the first drive component and supplies power to the first drive component.

[0072] like Figure 3 As shown, the lower leg 20 rotates forward relative to the movable chassis, and the thigh 30 rotates backward relative to the lower leg 20, which can lower the height of the upper body structure 40, assuming a bent-knee posture for the humanoid robot. The distance between the left wedge 1112 and the right wedge 1113 is greater than the width of the lower leg 20, allowing the lower leg 20 to fit completely between the left wedge 1112 and the right wedge 1113. The maximum width of the thigh 30 is greater than the distance between the left wedge 1112 and the right wedge 1113, so the thigh 30 cannot rotate completely between the left wedge 1112 and the right wedge 1113. When the thigh 30 rotates backward to abut against the left wedge 1112 and the right wedge 1113, the left wedge 1112 and the right wedge 1113 provide support for the thigh 30.

[0073] like Figure 4As shown, the lower leg 20 includes a second housing 21. The lower end of the second housing 21 is located between the left wedge 1112 and the right wedge 1113, and the upper end of the second housing 21 is connected to the thigh 30. The lower leg 20 includes a second drive member 23, which is located at the lower end of the second housing 21. The output shaft of the second drive member 23 is connected to the movable base 10, and the output shaft of the second drive member 23 is specifically connected to the double-layer frame 12. The second drive member 23 drives the lower leg 20 to rotate relative to the movable base 10. The lower leg 20 includes a third drive member 24, which is located at the upper end of the second housing 21. The output shaft of the third drive member 24 is connected to the thigh 30, and the third drive member 24 drives the thigh 30 to rotate relative to the lower leg 20. The lower leg 20 includes a first upright plate 22. The first upright plate 22 is installed inside the second housing 21. There are two first upright plates 22, which are located on both sides of the second drive member 23 and also on both sides of the third drive member 24 (see...). Figure 5 The second driving component 23 is installed at the lower end of the first upright plate 22, and the third driving component 24 is installed at the upper end of the first upright plate 22.

[0074] like Figure 4 and Figure 5 As shown, the thigh 30 includes a second upright plate 31. There are two second upright plates 31, located on both sides of the lower leg 20. The second upright plates 31 are connected to the output shaft of the third drive member 24. The upper body structure 40 includes a third housing 41. The third housing 41 includes a torso shell and a waist shell, with the torso shell located above the waist shell, and the torso shell and waist shell can rotate relative to each other. The upper body structure 40 includes a fourth drive member 43. The fourth drive member 43 is located at the lower end of the third housing 41, specifically at the lower end of the waist shell. The output shaft of the fourth drive member 43 is connected to the thigh 30, and the fourth drive member 43 drives the thigh 30 to rotate relative to the upper body structure 40. The upper body structure 40 also includes a third upright plate 42. The third upright plate 42 is installed inside the third housing 41, specifically inside the waist shell. There are two third upright plates 42, located on both sides of the fourth drive member 43. The upper body structure 40 also includes a connecting plate 44. The two ends of the connecting plate 44 are respectively connected to the two third upright plates 42. The upper body structure 40 also includes a frame 45. The frame 45 is located within the third shell 41, specifically within the torso shell. The upper body structure 40 also includes a fifth drive member 46. The fifth drive member 46 is mounted on the frame 45, and its output shaft is connected to the connecting plate 44. The fifth drive member 46 drives the frame 45 to rotate horizontally, thereby enabling the torso shell to rotate horizontally relative to the waist shell, and driving the arms 47 and head 48 to rotate horizontally.

[0075] like Figure 6 As shown, the first housing 11 includes an upper housing 111. The upper housing 111 is located on the upper surface of the housing. The camera 16 can be mounted on the front and / or rear side of the upper housing 111 (see Figure 11). Figure 2The upper shell 111 includes a central plate 1111. The central plate 1111 is located in the middle of the upper shell 111 and abuts against the upper layer of the double-layer frame 12, thus the upper layer supports the central plate 1111. The upper shell 111 also includes a left wedge 1112 and a right wedge 1113. The left wedge 1112 is located to the left of the central plate 1111, and the right wedge 1113 is located to the right of the central plate 1111. Both the left wedge 1112 and the right wedge 1113 are wedge-shaped. The upper shell 111 also includes a connecting portion 1114. The two ends of the connecting portion 1114 are connected to the left wedge 1112 and the right wedge 1113 respectively, thus the left wedge 1112, the connecting portion 1114, and the right wedge 1113 are sequentially connected to form a U-shaped wedge structure 101. The lower leg 20 is located near the connecting portion 1114. The first upper shell 111 also includes baffles 1116, of which there are two: a left baffle 1116 and a right baffle 1116 (see...). Figure 9 The left baffle 1116 is connected to the left wedge 1112, and the right baffle 1116 is connected to the right wedge 1113. The left baffle 1116 blocks the drive wheel 13 on the left side, and the right baffle 1116 blocks the drive wheel 13 on the right side, thereby protecting the drive wheel 13.

[0076] like Figure 7 and Figure 8 As shown, the first housing 11 includes a lower housing 112. The lower housing 112 is located below the upper housing 111, and the radar 15 is mounted on the front side of the lower housing 112 (see Figure 112). Figure 2 The bottom of the first housing 11 forms a cylindrical groove 1121, in which the driven wheel 14 can rotate. A support member is provided between the upper layer and the driven wheel 14 to support the driven wheel 14.

[0077] like Figure 9 As shown, the U-shaped wedge structure 101 is provided with multiple reinforcing plates 1115. The reinforcing plates 1115 abut against the upper layer of the double-layer frame 12, and the upper layer supports the reinforcing plates 1115 and the U-shaped wedge structure 101.

[0078] It should be understood that the application of this utility model is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A humanoid robot, characterized by, It includes: The movable base forms a U-shaped wedge structure; The lower leg is rotatably connected to the movable base in the front-to-back direction; The thigh is rotatably connected to the lower leg in a front-back direction; The upper body structure is movably connected to the thigh. The lower leg can be rotated to the middle position of the U-shaped wedge structure, and the thigh can be rotated to the two sides of the U-shaped wedge structure, so that the humanoid robot is in a bent-knee posture.

2. The humanoid robot according to claim 1, characterized by, The mobile base includes: A first housing, wherein the upper surface of the first housing forms the U-shaped wedge structure; A double-layer frame is located inside the first housing; The first driving component is disposed on the lower layer of the double-layer frame; A drive wheel is located outside the first housing and connected to the first drive component; The driven wheel is located outside the first housing and is movably connected to the double-layer frame; The lower leg is rotatably connected to the upper layer of the double-layer frame.

3. The humanoid robot according to claim 2, characterized in that, A cylindrical groove is formed at the bottom of the first housing, and the driven wheel is located in the cylindrical groove and rotatably connected to the first housing.

4. The humanoid robot according to claim 2, characterized by, The mobile base also includes: Both the radar and the camera are mounted on the first housing; The power supply is located on the lower layer of the double-layer frame; The power supply is configured to supply power to the radar, the camera, and the first drive unit.

5. The humanoid robot according to claim 4, characterized in that, The camera is a depth camera.

6. The humanoid robot according to claim 2, wherein The first housing includes: an upper housing and a lower housing connected to each other; the upper housing includes: Middle section; The left wedge is located on the left side of the middle plate; The right wedge is located on the right side of the middle plate; Connecting part; The left wedge, the connecting part, and the right wedge are sequentially connected to form the U-shaped wedge structure. The U-shaped wedge structure is provided with multiple reinforcing plates, and the reinforcing plates and the middle plate abut against the upper layer of the double-layer frame.

7. The humanoid robot according to any one of claims 1 to 6, characterized in that, The lower leg includes: Second shell; Two first upright plates are located inside the second housing; The second driving component is disposed at the lower end of the first upright plate, and the output shaft of the second driving component is connected to the movable base. The third driving component is located at the upper end of the first upright plate; The second driving component is located between the two first upright plates.

8. The humanoid robot according to claim 7, characterized in that, The thigh includes: Two second vertical plates are connected to the output shaft of the third driving component; The two second uprights are located on either side of the lower leg.

9. The humanoid robot according to claim 8, characterized in that, The upper body structure includes: Third shell; Two third upright plates are located inside the third housing; A fourth driving component is disposed on the third upright plate, and the output shaft of the fourth driving component is connected to the second upright plate; A connecting plate is located inside the third housing and is connected to the two third upright plates; The frame is located within the third housing; The fifth driving component is disposed on the frame and connected to the connecting plate.

10. The humanoid robot according to claim 9, characterized by, The upper body structure also includes: The two arms are movably connected to the frame, respectively; The head is movably connected to the frame.

Images