A foot chassis for humanoid robots

Abstract

This utility model discloses a foot chassis for a humanoid robot, including a chassis body with an electrical compartment housing a battery pack. A docking base for connecting the humanoid robot's feet is located on the upper surface of the chassis body. A drive wheel is located on each of the left and right sides of the chassis body, and several omnidirectional wheels are located on the bottom of the chassis body. This utility model enables the humanoid robot to quickly switch to efficient wheeled movement via the docking base; the suspension system provides the drive wheels with excellent obstacle-crossing and stability; a laser radar and edge-mounted switches provide dual active and passive safety protection; the layout is compact and stable; and the centrally located differential wheel combined with the two drive wheels enables flexible on-the-spot turning, comprehensively improving the robot's mobility, environmental adaptability, and safety.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a foot chassis for a humanoid robot. Background Technology

[0002] Humanoid robots, with their anthropomorphic form, can adapt to human work and living environments and have broad application prospects. However, their bipedal walking mode has inherent limitations in terms of stability and mobility efficiency: First, bipedal gait control algorithms are complex and require extremely high processor computing power and sensor accuracy; second, on flat, smooth surfaces, wheeled movement is far more efficient than gait movement and consumes less energy; finally, bipedal robots consume a lot of energy and pose stability risks when standing still for extended periods or moving at low speeds.

[0003] In the existing technology, although there are various AGV (Automated Guided Vehicle) chassis used for warehousing and logistics, these chassis are not designed for humanoid robots. If a humanoid robot is simply fixed to a traditional AGV chassis, the following problems will be encountered: (1) the connection interface is mismatched, and it is impossible to achieve fast, stable and reliable docking; (2) the structural layout of the traditional AGV chassis does not take into account the mass distribution of the upper body of the humanoid robot, and the stability is lacking; (3) there is a lack of safety design for special working scenarios of humanoid robots (such as needing to coexist with humans in the same environment); (4) the obstacle crossing ability is limited, and it is difficult to adapt to indoor environments with slight slopes or uneven ground.

[0004] Therefore, there is an urgent need for a mobile chassis specifically designed for humanoid robots that can retain the operational flexibility of the upper body of the humanoid robot, utilize the efficiency of wheeled movement, and possess good safety, obstacle-crossing ability, and environmental adaptability. Utility Model Content

[0005] To overcome the shortcomings of the prior art, the purpose of this utility model is to provide a foot chassis for humanoid robots.

[0006] To achieve the above and other related objectives, the technical solution provided by this utility model is: a foot chassis for a humanoid robot, comprising a chassis body, an electrical compartment on the chassis body, and a battery pack inside the electrical compartment; a docking base for connecting the humanoid robot's foot is provided on the upper surface of the chassis body; a drive wheel is provided on each of the left and right sides of the chassis body, and several omnidirectional wheels are provided on the bottom of the chassis body. This solution provides core movement and docking functions, enabling the humanoid robot to quickly switch to an efficient wheeled movement mode.

[0007] Furthermore, the inner sides of each drive wheel are connected to a suspension structure mounted on the chassis body. The suspension structure includes a base plate fixed to the chassis body, a parallel top plate above the base plate, and two guide pillars connecting the top plate and the base plate. A mounting seat connected to the drive wheel is also provided between the top plate and the base plate. The drive wheel's drive shaft horizontally passes through the mounting seat, and its extended end has an external thread. The drive shaft passes through the mounting seat and is locked with a nut. Both ends of the mounting seat are slidably fitted onto the guide pillars, and springs are fitted onto the guide pillars, located between the mounting seat and the top plate. This design, through a suspension system composed of springs and guide pillars, provides cushioning for the drive wheel, effectively absorbing ground impacts and achieving obstacle crossing and stable driving.

[0008] Furthermore, both ends of the mounting base are connected to the guide column for vertical movement via linear bearings. This design utilizes linear bearings to reduce friction, resulting in smoother, more responsive, and more durable vertical movement of the suspension system.

[0009] Furthermore, a left mounting slot and a right mounting slot are respectively provided on the left and right sides of the chassis body, and the two drive wheels are located in the left mounting slot and the right mounting slot respectively; a caster wheel is provided on both the front and rear sides of the drive wheels. This solution embeds the drive wheels into the mounting slots, saving lateral installation space; the caster wheels at the front and rear of the drive wheels form a stable four-point support structure.

[0010] Furthermore, a mounting hole is provided at each of the four corners of the chassis body, and the mounting holes are corresponding to the mounting positions of the casters. A connecting cover for mounting the casters is provided above the mounting holes, and the connecting cover is detachably mounted on the chassis body. This modular caster mounting method facilitates the quick assembly and disassembly of individual casters and maintenance, improving the maintainability of the chassis.

[0011] Furthermore, the drive wheel is a hub motor, and a hub driver is also installed in the electrical compartment, which is electrically connected to the hub motor. This solution uses a hub motor, which simplifies the transmission structure and improves transmission efficiency and space utilization; the independent driver facilitates precise control.

[0012] Furthermore, the front and rear edges of the chassis body are arc-shaped, and each side is equipped with an arc-shaped anti-collision strip; a contact switch is installed inside the anti-collision strip. The arc-shaped anti-collision strip and the contact switch in this solution constitute a passive safety defense line, which can quickly detect and brake in the event of a collision, protecting the safety of equipment and personnel.

[0013] Furthermore, a lidar sensor is also installed on the chassis body, located at the front end of the chassis body. This lidar sensor provides active perception capabilities, enabling autonomous navigation, path planning, and obstacle avoidance, thus enhancing intelligence and safety.

[0014] Furthermore, a cover is provided above the chassis body, with the cover positioned towards the rear. Both the docking base and the lidar are located outside the cover. This cover design protects the internal electrical components from dust and impacts, while ensuring that docking and sensing functions are not obstructed.

[0015] Furthermore, a differential wheel is provided on the chassis body, and the differential wheel is located in the middle of the two drive wheels. The centrally located differential wheel cooperates with the two drive wheels on both sides to achieve an ultra-small turning radius and the ability to turn on the spot, which greatly enhances maneuverability in narrow spaces.

[0016] Due to the application of the above technical solution, the beneficial effects of this utility model compared with the prior art are as follows: 1. This utility model achieves efficient and flexible movement on flat ground by incorporating drive wheels and omnidirectional wheels. A dedicated docking base allows the humanoid robot to be quickly mounted on the chassis, switching it from walking mode to efficient wheeled movement, greatly expanding its application scenarios and work efficiency.

[0017] 2. The unique suspension structure adopted by this utility model provides vertical buffer for the drive wheels, enabling them to easily cope with minor unevenness, gentle slopes, and even low obstacles on the ground, ensuring the stability of the robot's upper body and avoiding control instability or task interruption caused by bumps.

[0018] 3. The drive wheel of this utility model is built into the mounting slot, saving lateral space. The vertical layout of the battery pack and wheel hub drive in the electrical compartment optimizes space utilization. The arc-shaped anti-collision strips at the front and rear, the built-in contact switch, and the front-end lidar together constitute multiple safety protections, ensuring safe operation in human-machine mixed environments.

[0019] 4. This utility model uses a centrally located differential wheel in conjunction with the drive wheels on both sides to achieve extremely small radius turning and even turning on the spot, which greatly improves the robot's maneuverability in narrow spaces. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the internal structure of this utility model; Figure 3 This is a bottom view of the structure of this utility model; Figure 4 This is a schematic diagram of the suspension structure of this utility model; In the above attached figures, 1. Chassis body; 2. Dating base; 3. Drive wheels; 4. Casters; 5. Suspension structure; 51. Base plate; 52. Top plate; 53. Guide column; 54. Mounting base; 55. Spring; 56. Linear bearing; 6. Electrical compartment; 61. Battery pack; 62. Hub drive; 7. Connecting cover; 8. Anti-collision strip; 9. LiDAR; 10. Housing. Detailed Implementation

[0021] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0022] It should be noted that in the description of this utility model, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is in use. These terms are used only for the convenience of describing this utility model and for simplifying the description, and do not indicate or imply that the device or component 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 utility model. Furthermore, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance. The terms "horizontal," "vertical," and "suspended," etc., do not indicate that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0023] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0025] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0026] Example 1: This utility model provides a foot chassis for humanoid robots, the purpose of which is to provide an efficient and stable mobile platform for humanoid robots with complete upper body functions.

[0027] See appendix Figure 2 and attached Figure 3 As shown, the chassis body 1 serves as the load-bearing foundation of the entire structure. Its front and rear edges are designed with arcs, which not only conforms to aesthetics but also provides guidance and cushioning in the event of a collision. Two docking bases 2 are fixed to the upper surface of the chassis body 1. These docking bases 2 are pre-installed with standard mechanical and electrical communication interfaces, enabling quick docking and locking with the corresponding interfaces on the humanoid robot's feet, achieving mechanical fixation and power and signal transmission. After docking, the chassis can support the entire robot and begin operation.

[0028] Regarding the mobility system, the chassis body 1 has a left mounting slot and a right mounting slot on its left and right sides, respectively. Each mounting slot houses a drive wheel 3. In this embodiment, the drive wheel 3 is preferably a hub motor, which integrates the drive motor, reduction mechanism, etc., within the hub, resulting in a compact structure and high transmission efficiency. To provide cushioning for the drive wheels 3, a suspension structure 5 is connected to the inner side of each drive wheel 3. See Appendix Figure 4As shown, the suspension structure 5 includes a base plate 51 fixed to the chassis body 1, and a top plate 52 arranged parallel above the base plate 51. The top plate 52 and the base plate 51 are fixedly connected by two guide posts 53. A mounting base 54 for mounting the drive wheel 3 transmission shaft is slidably connected to the guide post 53 through linear bearings 56 at both ends. Above the mounting base 54, a spring 55 is sleeved on the guide post 53. In this embodiment, a rectangular spring of model YSWU-D26-L60 is preferred, which has strong load-bearing capacity and long service life. When the drive wheel 3 encounters an obstacle or uneven ground, the impact force will push the mounting base 54 to compress the spring 55 and move it upward along the guide post 53 to absorb the impact. After passing the obstacle, it will reset under the restoring force of the spring 55, thereby ensuring the stability of the chassis and the robot on it.

[0029] At the bottom of the chassis body 1, in addition to the two drive wheels 3, several casters 4 are also provided. A preferred layout is to have one caster 4 on each side of the front and rear of each drive wheel 3. The casters 4 provide auxiliary support and free steering, forming a stable "four-point support" structure together with the drive wheels 3. For ease of installation and maintenance, mounting holes are provided at the corresponding positions of the four corners of the chassis body 1, and the casters 4 are fixed to the mounting holes by a detachable connecting cover 7.

[0030] The power and control systems are centralized in the electrical compartment 6. Located at the rear of the chassis body 1, the electrical compartment 6 is divided into upper and lower layers, with the battery pack 61 and hub drive 62 mounted vertically via a mounting bracket. This layout makes full use of vertical space, resulting in a more compact chassis structure. The hub drive 62 is electrically connected to the drive wheels 3, which act as hub motors, controlling their speed and steering.

[0031] In terms of safety, curved anti-collision strips 8 are installed on the curved edges of both the front and rear sides of the chassis body 1. Each anti-collision strip 8 contains a contact switch. When the chassis experiences a minor collision, the deformation of the anti-collision strip 8 triggers the internal contact switch, and the system immediately cuts off power or executes an obstacle avoidance procedure. Furthermore, a LiDAR 9 is installed at the front of the chassis body 1 to scan the environment in real time, build a map, and achieve autonomous navigation and obstacle avoidance, thus forming a dual safety protection system combining active and passive measures.

[0032] See appendix Figure 1 As shown, in order to optimize the overall appearance and protect the internal components, a cover 10 is set on the upper and rear side of the chassis body 1 to cover the electrical compartment 6 and other components, while the docking base 2 and the lidar 9 are exposed outside the cover 10 for easy docking and sensing.

[0033] Example 2: As not shown in the attached drawings, this embodiment is a further improvement based on Embodiment 1. Specifically, a differential wheel is provided on the chassis body 1 at the middle position of the two drive wheels 3. This differential wheel cooperates with the drive wheels 3 on both sides, and through the differential principle, it can achieve turning with a very small radius of the chassis, or even turning on the spot, greatly enhancing maneuverability in narrow spaces.

[0034] This utility model provides a foot chassis that achieves rapid and stable docking with the humanoid robot's feet via a dedicated docking base, switching it from inefficient bipedal walking to efficient wheeled movement, greatly improving mobility and reducing energy consumption. The chassis employs a combination of drive wheels and omnidirectional wheels, along with a unique suspension system, giving it excellent obstacle-crossing ability and stable driving, effectively handling uneven ground and slopes. In terms of safety, front and rear arc-shaped anti-collision strips with built-in edge switches provide passive protection, while a front-end lidar enables active obstacle avoidance, forming a dual safety guarantee. The spatial layout is optimized, with drive wheels embedded in mounting slots, and the battery pack and wheel hub actuators arranged vertically within the electrical compartment, resulting in a compact structure. Furthermore, the centrally located differential wheel, in conjunction with the two side drive wheels, gives the chassis extreme maneuverability for on-the-spot turning, allowing it to move flexibly and freely in confined spaces. This chassis solves multiple challenges related to the humanoid robot's mobility efficiency, stability, safety, and environmental adaptability.

[0035] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They cannot be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A foot chassis for a humanoid robot, comprising a chassis body (1), an electrical compartment (6) is arranged on the chassis body (1), and a battery pack (61) is arranged in the electrical compartment (6); characterized in that: The upper surface of the chassis body (1) is provided with a docking base (2) for connecting the feet of the humanoid robot; a drive wheel (3) is provided on both the left and right sides of the chassis body (1), and several universal wheels (4) are provided at the bottom of the chassis body (1).

2. The foot chassis for a humanoid robot of claim 1, wherein: The inner side of each drive wheel (3) is connected to a suspension structure (5), which is mounted on the chassis body (1). The suspension structure (5) includes a base plate (51) fixed on the chassis body (1), a parallel top plate (52) is provided above the base plate (51), the top plate (52) and the base plate (51) are connected by two guide posts (53), and a mounting seat (54) connected to the drive wheel (3) is also provided between the top plate (52) and the base plate (51). The two ends of the mounting seat (54) are slidably sleeved on the guide posts (53), and a spring (55) is sleeved on the guide posts (53). The spring (55) is located between the mounting seat (54) and the top plate (52).

3. The foot chassis for a humanoid robot of claim 2, wherein: Both ends of the mounting base (54) are connected to the guide post (53) for vertical movement via linear bearings (56).

4. The foot chassis for a humanoid robot according to claim 1, characterized in that: The chassis body (1) has a left mounting slot and a right mounting slot on its left and right sides respectively, and the two drive wheels (3) are located at the left mounting slot and the right mounting slot respectively; a universal wheel (4) is provided on both the front and rear sides of the drive wheel (3).

5. The foot platform for a humanoid robot of claim 1, wherein: A mounting hole is provided at each of the four corners of the chassis body (1). The mounting hole is set in accordance with the mounting position of the universal wheel (4). A connecting cover (7) for mounting the universal wheel (4) is provided above the mounting hole. The connecting cover (7) is detachably set on the chassis body (1).

6. The foot platform for a humanoid robot of claim 1, wherein: The drive wheel (3) is a hub motor, and a hub driver (62) is also provided in the electrical compartment (6). The hub driver (62) is electrically connected to the hub motor.

7. The foot platform for a humanoid robot of claim 1, wherein: The front and rear sides of the chassis body (1) are arc-shaped, and each side is provided with an arc-shaped anti-collision strip (8); the anti-collision strip (8) is provided with a contact switch inside.

8. The foot chassis for a humanoid robot of claim 1, wherein: The chassis body (1) is also equipped with a laser radar (9), which is located at the front end of the chassis body (1).

9. The foot chassis for a humanoid robot of claim 8, wherein: A cover (10) is provided above the chassis body (1). The cover (10) is located on the rear side, and the docking base (2) and the lidar (9) are both located outside the cover (10).

10. The foot platform for a humanoid robot of claim 1, wherein: The chassis body (1) is provided with a differential wheel, and the differential wheel is located in the middle of the two drive wheels (3).

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