robot

Abstract

The utility model provides a kind of robot, and robot includes fuselage and foot component. Among them, N foot components are sequentially arranged in the front-back direction of fuselage, and each foot component includes first foot and second foot, and in the left-right direction of fuselage, first foot and second foot are respectively connected to the opposite sides of fuselage, wherein N≥3;When robot walks, first foot and second foot are used to contact ground alternately, when the first foot of one of any two adjacent foot components contacts ground, the second foot of another contacts ground.The present application aims to improve the stability when robot walks, so as to reduce the occurrence of robot dumping.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to robots. Background Technology

[0002] The robot consists of a body and multiple legs, with the legs located on the body. The robot walks using its multiple legs.

[0003] However, current robots are not stable enough when walking and are prone to tipping over. Utility Model Content

[0004] Embodiments of this utility model provide a robot designed to improve the stability of the robot during walking, thereby reducing the occurrence of robot tipping over.

[0005] In a first aspect, embodiments of the present invention provide a robot, comprising:

[0006] fuselage; and

[0007] N foot components are arranged sequentially in the front-rear direction of the fuselage. Each foot component includes a first foot and a second foot. In the left-right direction of the fuselage, the first foot and the second foot are respectively connected to opposite sides of the fuselage, where N≥3.

[0008] When the robot walks, the first foot and the second foot are used to alternately contact the ground. When the first foot of any two adjacent foot assemblies contacts the ground, the second foot of the other foot contacts the ground.

[0009] Optionally, the spacing between the first foot and the second foot of at least two of the foot assemblies is different.

[0010] Optionally, the foot assembly includes two feet, one foot configured as the first foot and the other foot configured as the second foot. When the robot walks, the projection of the robot's center of gravity in the vertical direction of the body is located within a first area enclosed by the plurality of feet in contact with the ground.

[0011] Optionally, the foot has a first end and a second end opposite to each other, the first end being connected to the body, and the second end having a contact surface for contacting the ground, the contact surface being arc-shaped.

[0012] Optionally, the contact surface is provided with anti-slip texture.

[0013] Optionally, the fuselage includes multiple battery packs, which are connected in parallel.

[0014] Optionally, the fuselage includes a housing and a battery pack, with the foot assembly disposed on the housing. The housing has a receiving cavity and a mounting port communicating with the receiving cavity. The battery pack can be installed in the receiving cavity through the mounting port. In the left-right direction of the fuselage, the mounting port is located on one side of the housing.

[0015] Optionally, the battery pack is provided in multiple locations, and the mounting port is provided in multiple locations, with one mounting port corresponding to a battery pack that is installed or removed from the receiving cavity.

[0016] Optionally, multiple mounting ports are located on the same side of the housing.

[0017] Optionally, the body includes a housing and a battery pack, with the foot assembly located in the housing and the battery pack located between two adjacent foot assemblies.

[0018] The beneficial effects of the embodiments of this utility model are as follows:

[0019] In an embodiment of this invention, when the robot walks, the first and second feet in contact with the ground are relatively dispersed, which helps improve the stability of the robot's walking. It can be understood that this distribution results in a larger first area enclosed by the first and second feet in contact with the ground, making it easier for the robot's center of gravity to fall within this first area. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional schematic diagram of the robot provided in an embodiment of the present utility model;

[0022] Figure 2 yes Figure 1 A schematic diagram of the robot's structure in the left-right direction;

[0023] Figure 3 yes Figure 2 A schematic diagram of the mid-fuselage structure;

[0024] Figure 4 yes Figure 2 A partial structural diagram of the fuselage.

[0025] 100. Robot; 200. Body; 210. Housing; 211. Reception cavity; 212. Disassembly / assembly port; 213. Mounting port; 220. Cover plate; 230. First battery pack; 240. Second battery pack; 250. Controller; 260. Battery pack; 300. Foot assembly; 310. Foot; 311. First foot; 312. Second foot; 313. Anti-slip texture. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model. In addition, it should be understood that the specific embodiments described herein are only for illustration and explanation of the present utility model and are not intended to limit the present utility model. In the present utility model, unless otherwise stated, directional terms such as "upper" and "lower" generally refer to the upper and lower positions of the device in actual use or operation, specifically the drawing directions in the accompanying drawings; while "inner" and "outer" refer to the outline of the device.

[0027] According to the first aspect of this application, referring to Figures 1 to 4 This disclosure provides a robot 100. The robot 100 includes a body 200 and N foot assemblies 300. The N foot assemblies are arranged sequentially in the front-rear direction of the body, and each foot assembly includes a first foot and a second foot. In the left-right direction of the body, the first foot and the second foot are respectively connected to opposite sides of the body, wherein N≥3;

[0028] When the robot walks, the first and second feet are used to alternately contact the ground. When the first foot of any two adjacent foot components is in contact with the ground, the second foot of the other component is in contact with the ground.

[0029] Thus, when the robot 100 walks, the first foot 311 and the second foot 312 in contact with the ground are relatively dispersed, which helps to improve the stability of the robot 100's walking. It can be understood that this distribution makes the first area enclosed by the first foot 311 and the second foot 312 in contact with the ground larger, and the center of gravity of the robot 100 is more likely to fall within this first area.

[0030] The shape of the first region may be, but is not limited to, a triangle, a quadrilateral, or other polygons.

[0031] In one example, N can be, but is not limited to, 3, 4, 5, 6, 7, or 8, and there is no restriction here. It can be understood that when N equals 3, robot 100 is a hexapod robot 100, and when N equals 4, robot 100 is an eight-legged robot 100.

[0032] In some embodiments, the spacing between the first foot 311 and the second foot 312 of at least two foot assemblies 300 is different.

[0033] If the spacing between the first foot 311 and the second foot 312 of all foot components 300 is exactly the same, the support strategy of the robot 100 will be too simplistic. However, a design where the spacing between the first foot 311 and the second foot 312 of at least two foot components 300 is different can enrich the support strategy of the robot 100.

[0034] In one example, taking robot 100 as a hexapod robot 100, the distance between the first foot 311 and the second foot 312 of the second foot assembly 300 is the largest in the front-to-back direction of the body 200.

[0035] In some embodiments, the foot assembly 300 includes two feet 310, one foot 310 being configured as a first foot 311 and the other foot 310 being configured as a second foot 312. When the robot 100 walks, the projection of the robot 100's center of gravity in the vertical direction of the body 200 is located within a first area enclosed by the plurality of feet 310 in contact with the ground.

[0036] If the center of gravity projection exceeds the first area, the foot 310 that touches the ground needs to withstand an additional overturning moment, which will place higher strength requirements on the joints, drive components, connectors and other structures of the foot 310 (it needs to withstand greater stress).

[0037] This design reduces the extra torque on the ground-touching foot 310 by preventing the center of gravity from shifting out of the first area, so that the foot 310 structure does not need to be overly reinforced. This helps to reduce the weight of the body 200, reduce energy consumption, and improve movement flexibility.

[0038] In addition, it also allows the supporting force of the ground-touching feet 310 on the body 200 to better balance the gravity and the inertial force generated by the movement, reducing the possibility of the robot 100 tipping over due to torque imbalance.

[0039] In some embodiments, the foot 310 has a first end and a second end opposite to each other. The first end is connected to the body 200, and the second end is provided with a contact surface for contacting the ground. The contact surface is arranged in an arc shape.

[0040] Compared to a flat surface, the curved surface's contour can more flexibly adapt to uneven ground. When the ground has bumps, depressions, or slopes, the curved surface can conform to the undulations of the ground through its own curvature. For example, when there are small stones on the ground, the curved surface will naturally adjust the contact point (transitioning from one position on the curved surface to another), rather than the "point contact" or "edge contact" of a flat surface, ensuring that the contact surface always has sufficient contact area with the ground. This adaptive ability allows the foot 310 to form a stable support point even on imperfect ground, preventing the individual foot 310 from slipping or dangling due to uneven ground.

[0041] In some embodiments, the contact surface is provided with anti-slip texture 313.

[0042] The anti-slip texture 313 increases the coefficient of friction between the contact surface and the ground, especially under complex surface conditions (such as smooth floors, wet and slippery surfaces, sand, gravel, etc.). For smooth or slippery surfaces, the texture can directly improve static friction through physical interlocking (such as the grooves of the texture engaging with the tiny protrusions on the ground) or drainage and dust removal (the gaps between the textures allow water film and dust to escape between the contact surface and the ground, preventing the formation of a lubricating layer). This prevents the foot 310 from slipping due to forces (such as lateral forces or propulsive forces).

[0043] For soft ground (such as sand and mud), the tread pattern can be embedded into the surface layer to enhance grip through mechanical anchoring (similar to the effect of tire treads in mud), preventing the foot from slipping after sinking in or lifting up too much ground material, which would cause the center of gravity to shift.

[0044] In some embodiments, the housing 200 includes a plurality of battery packs 260, which are connected in parallel.

[0045] If one or a few battery packs 260 fail to supply power due to a malfunction (such as damaged cells or poor contact), the other battery packs 260 can continue to supply power to the system through a parallel circuit, thus avoiding a sudden power outage of the robot 100 due to the failure of a single battery pack 260 (which could lead to gait interruption, loss of center of gravity, or direct tipping over).

[0046] This redundancy design significantly improves the fault tolerance of the power supply system, reducing the risk of mission failure due to battery malfunction.

[0047] In some embodiments, the body 200 includes a housing 210 and a battery pack 260. The foot assembly 300 is disposed on the housing 210. The housing 210 has a receiving cavity 211 and a mounting port 213 communicating with the receiving cavity 211. The battery pack 260 can be installed in the receiving cavity 211 through the mounting port 213. In the left-right direction of the body 200, the mounting port 213 is located on one side of the housing 210.

[0048] The single-sided mounting port 213 design on the left and right sides of the body 200 allows the operator to remove and place the battery pack 260 from the side without having to flip the body 200 (to avoid the robot 100 tipping over due to a shift in the center of gravity). This simplifies the operation process (especially when replacing batteries in an emergency, it can shorten downtime).

[0049] In addition, it also makes it easy for operators to disassemble and assemble the battery pack 260 by pushing and pulling.

[0050] In some embodiments, the battery pack 260 is provided with a plurality of mounting ports 213, and each mounting port 213 is provided for a battery pack 260 to be installed or removed from the receiving cavity 211.

[0051] When a battery pack 260 malfunctions (e.g., power degradation, cell damage) or needs replacement, only its corresponding mounting port 213 needs to be operated, without disassembling other battery packs 260 (avoiding redundant operations caused by removing the entire pack). For example, if a battery pack 260 suddenly fails during field operations, the operator can quickly locate the corresponding mounting port 213, remove the faulty battery individually, and replace it with a new one, while the other normal battery packs 260 remain in place, significantly shortening maintenance time and reducing robot downtime by 100%.

[0052] Compared to the design of "a single large mounting port 213 to accommodate all battery packs 260" (which requires all batteries to be removed before a single battery can be replaced), this "one-to-one" mode avoids disturbance to other battery packs 260 during disassembly and assembly (such as collisions or pulling of connecting harnesses), and reduces the risk of secondary failures caused by maintenance operations (such as poor contact of other batteries).

[0053] In some embodiments, a plurality of mounting ports 213 are located on the same side of the housing 210.

[0054] All mounting ports 213 are concentrated on the same side, which means that operators can complete the installation and removal of all battery packs 260 from a single operating surface without having to walk around the motor body 200 or adjust the posture of the robot 100.

[0055] The maintenance process is more standardized. Operators do not need to remember the positions of the mounting ports 213 on different sides. They only need to replace the battery packs 260 in sequence on the same side (such as operating from front to back), reducing operational errors (such as missing or incorrect replacement). Especially in emergency scenarios (such as low battery alarms), multiple battery packs 260 can be replaced in batches quickly, shortening downtime.

[0056] In some embodiments, the body 200 includes a housing 210 and a battery pack 260, with foot components 300 disposed on the housing 210 and the battery pack 260 disposed between two adjacent foot components 300.

[0057] In this way, the weight of the battery pack 260 can be shared by the two adjacent foot components 300, avoiding excessive stress and deformation of one foot component 300, which helps to extend the service life of the foot component 300.

[0058] In some embodiments, the plurality of battery packs 260 include a first battery pack 230 and a second battery pack 240. The robot 100 includes the first battery pack 230 and the second battery pack 240. The first battery pack 230 and the second battery pack 240 are connected in parallel.

[0059] Thus, when one of the first battery pack 230 and the second battery pack 240 loses power due to malfunction, depletion of power, or other reasons, the other can continue to supply power to the robot 100 through a parallel circuit.

[0060] This prevents the robot from losing power and attitude control due to a sudden power outage, thus reducing the risk of tipping over due to power failure at the source.

[0061] Compared to the series design of a single battery pack 260 or multiple battery packs 260 (where a failure of any battery pack 260 in the series will interrupt the power supply), the parallel design of the first battery pack 230 and the second battery pack 240 significantly improves the fault resistance of the robot 100 power supply system and enhances the overall reliability of the robot 100 operation.

[0062] When one of the first battery pack 230 and the second battery pack 240 needs to be replaced or repaired, the other can be used temporarily to maintain the basic operation of the robot 100 (such as returning to the charging station or maintenance area), without the need for forced shutdown, which improves the convenience and efficiency of maintenance.

[0063] In some embodiments, the robot 100 further includes a power circuit board, and the first battery pack 230 and the second battery pack 240 are both electrically connected to the power circuit board.

[0064] In this way, the first battery pack 230 and the second battery pack 240 share a power circuit board, which helps to improve the integration of the robot 100.

[0065] In some embodiments, a power circuit board is disposed between the first battery pack 230 and the second battery pack 240, and the first battery pack 230 and the second battery pack 240 are respectively connected to the power circuit board via wires.

[0066] The power circuit board is located between the first battery pack 230 and the second battery pack 240, which can minimize the total length of the wires between the first battery pack 230 and the power circuit board, as well as the total length of the wires between the second battery pack 240 and the power circuit board. The shorter wire length can reduce resistance loss during current transmission and improve energy utilization. Especially in high-load, high-current output scenarios of the robot 100 (such as startup and acceleration), it can reduce unnecessary energy waste and indirectly extend the battery life.

[0067] Meanwhile, shorter wire lengths can reduce signal transmission delays (such as battery status monitoring signals), enabling the power supply circuit board to respond more quickly to changes in the status of the first battery pack 230 and the second battery pack 240 (such as sudden power outages or voltage fluctuations), thus improving the real-time performance of power supply management.

[0068] In some embodiments, the robot 100 includes a body 200, the body 200 including a first battery pack 230 and a second battery pack 240, the first battery pack 230 accounting for at least 20% of the weight of the body 200 and the second battery pack 240 accounting for at least 20% of the weight of the body 200.

[0069] Thus, the first battery pack 230 and the second battery pack 240 are relatively heavy, which allows the first battery pack 230 and the second battery pack 240 to act as counterweights for the body 200, thereby reducing the risk of the body 200 tipping over when the robot 100 moves.

[0070] In addition, the high weight of the battery pack 260 usually corresponds to the high battery capacity of the battery pack 260. The first battery pack 230 and the second battery pack 240 are relatively heavy, which helps to make the first battery pack 230 and the second battery pack 240 have higher battery capacity, thus making the robot 100 have a longer battery life.

[0071] In one example, the first battery pack 230 accounts for at least 20%, 20.2%, 21%, 21.4%, 21.6%, 21.9%, 22%, 22.3%, 22.8%, 24.1%, 25%, 27.7%, 27.9%, 28.1%, 28.4%, 29.1%, 29.6%, 29.7%, 29.5%, 30%, 37%, 39.4%, or 40% of the weight of the fuselage 200.

[0072] The first battery pack 230 shall account for at least 20%, 20.4%, 21.2%, 21.4%, 21.7%, 21.9%, 22.1%, 22.5%, 22.9%, 24.7%, 25%, 27.8%, 27.9%, 28.1%, 28.4%, 29.1%, 29.6%, 29.7%, 29.5%, 30%, 37.1%, 39.4%, 40%, or 41% of the weight of the fuselage 200.

[0073] In some embodiments, the first battery pack 230 and the second battery pack 240 are arranged sequentially in the first direction, such that the distance between the center of gravity of the fuselage 200 and the geometric center of the fuselage 200 in the first direction is less than the distance between the center of gravity of the fuselage 200 and any end of the fuselage 200 in the first direction.

[0074] Thus, the configuration of the first battery pack 230 and the second battery pack 240 makes the distance between the center of gravity of the fuselage 200 and the geometric center of the fuselage 200 relatively close.

[0075] When the center of gravity of the robot body 200 is close to its geometric center, the robot 100 needs to overcome a smaller center of gravity offset torque when adjusting its posture. If the center of gravity of the robot body 200 deviates far from its geometric center, the robot 100 needs to output more power to correct its posture when it tilts.

[0076] In some embodiments, the first direction intersects the height direction of the fuselage 200.

[0077] This helps to lower the center of gravity of the robot. The lower the center of gravity, the stronger the robot's resistance to tipping over.

[0078] In some embodiments, the front-rear direction of the fuselage 200 is the first direction.

[0079] This helps to reduce the space occupied by the first battery pack 230 and the second battery pack 240 on the side of the body 200, makes the width of the body 200 smaller, and improves the robot 100's ability to pass through narrow passages.

[0080] In some embodiments, the weight of the first battery pack 230 is the same as the weight of the second battery pack 240.

[0081] This simplifies the process of counterweighting the fuselage 200 by the first battery pack 230 and the second battery pack 240.

[0082] In some embodiments, the first battery pack 230 and the second battery pack 240 are symmetrically arranged about the center of gravity of the body 200.

[0083] If a larger capacity first battery pack 230 and second battery pack 240 need to be replaced in the future, the symmetrical structure makes it easy to maintain the center of gravity balance of the body 200. Only the first battery pack 230 and second battery pack 240 on both sides need to be replaced at the same time. There is no need to make major adjustments to the overall structure of the body 200, which improves the upgradeability and expandability of the robot 100.

[0084] In some embodiments, the robot 100 includes a housing 210, a cover plate 220, a controller 250, and multiple wires. The housing 210 has a receiving cavity 211 and a disassembly port 212 communicating with the receiving cavity 211. A first battery pack 230, a second battery pack 240, and the controller 250 are disposed in the receiving cavity 211. One wire can be disassembled and assembled to the first battery pack 230 and the controller 250 through the disassembly port 212, and another wire can be disassembled and assembled to the second battery pack 240 and the controller 250 through the disassembly port 212. The cover plate 220 is used to cover the disassembly port 212.

[0085] In this way, the cover plate 220 and the housing 210 can jointly protect the components inside the receiving cavity 211, which helps to reduce the possibility of damage to the components inside the receiving cavity 211 caused by the environment outside the robot 100. In addition, after the first battery pack 230, the second battery pack 240 and the controller 250 are respectively installed in the receiving cavity 211, one wire can be installed to the first battery pack 230 and the controller 250 through the disassembly port 212, and another wire can be disassembled and installed to the second battery pack 240 and the controller 250 through the disassembly port 212. This eliminates the need to connect the first battery pack 230, the second battery pack 240, the wire and the controller 250 into a whole before installing them in the housing 210, which helps to improve the assembly flexibility of the robot body 200.

[0086] In some embodiments, the top side of the housing 210 is provided with a disassembly port 212.

[0087] In this way, the wires can be installed or removed without flipping the housing 210, which is very convenient.

[0088] The embodiments of this utility model have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robot, characterized in that, include: body; as well as N foot components are arranged sequentially in the front-rear direction of the fuselage. Each foot component includes a first foot and a second foot. In the left-right direction of the fuselage, the first foot and the second foot are respectively connected to opposite sides of the fuselage, where N≥3. When the robot walks, the first foot and the second foot are used to alternately contact the ground. When the first foot of any two adjacent foot assemblies contacts the ground, the second foot of the other foot contacts the ground.

2. The robot according to claim 1, characterized in that, The spacing between the first foot and the second foot of at least two of the foot assemblies is different.

3. The robot according to claim 1, characterized in that, The foot assembly includes two feet, one foot configured as the first foot and the other foot configured as the second foot. When the robot walks, the projection of the robot's center of gravity in the vertical direction of the body is located within a first area enclosed by the plurality of feet in contact with the ground.

4. The robot according to claim 1, characterized in that, The foot has a first end and a second end, the first end is connected to the body, and the second end is provided with a contact surface for contacting the ground. The contact surface is arc-shaped.

5. The robot according to claim 4, characterized in that, The contact surface is provided with anti-slip texture.

6. The robot according to claim 1, characterized in that, The fuselage includes multiple battery packs, which are connected in parallel.

7. The robot according to claim 1, characterized in that, The fuselage includes a housing and a battery pack. The foot assembly is disposed on the housing. The housing has a receiving cavity and a mounting port communicating with the receiving cavity. The battery pack can be installed in the receiving cavity through the mounting port. In the left-right direction of the fuselage, the mounting port is located on one side of the housing.

8. The robot according to claim 7, characterized in that, The battery pack is provided in multiple locations, and the mounting port is provided in multiple locations, with one mounting port corresponding to one battery pack being installed or removed from the receiving cavity.

9. The robot according to claim 8, characterized in that, Multiple mounting ports are located on the same side of the housing.

10. The robot according to claim 1, characterized in that, The body includes a housing and a battery pack. The foot assembly is disposed on the housing, and the battery pack is disposed on the housing, with the battery pack located between two adjacent foot assemblies.

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