A biomimetic drive device for a humanoid robot

Abstract

This utility model relates to the field of humanoid robot technology and discloses a biomimetic drive device for humanoid robots. It includes feet mounted under the robot's legs, with openings at each of the four corners. Two front tubes are fixedly connected to the inner walls of the two openings at the front of the foot, and two rear tubes are fixedly connected to the inner walls of the two openings at the rear of the foot. Mounting tubes are connected to the inner walls of the lower ends of the two front and two rear tubes. A ball cavity is formed on the bottom surface of each of the two rear mounting tubes, and a rolling ball is rolled inside each of the two spheres. This biomimetic drive device for humanoid robots, through the combination of moving wheels at the four corners of the feet and rolling balls, enables "skateboard-like" rolling movement on smooth, hard surfaces such as tiles and marble, replacing the traditional "stepping" walking mode, increasing movement speed. Furthermore, the surface of the moving wheels is covered with a rubber layer, which, combined with the omnidirectional rolling characteristics of the rolling balls, balances grip and flexibility, adapting to the rapid movement needs of indoor service scenarios.

Description

Technical Field

[0001] This utility model relates to the field of humanoid robot technology, specifically to a bionic drive device for humanoid robots. Background Technology

[0002] Humanoid robots are robots that mimic humans in appearance, structure, or behavior. They typically possess a human-like torso, head, arms, and legs. The biomimetic actuators of humanoid robots are drive systems that use a more human-like mode of locomotion—imitating the principles of human muscle, tendon, and skeletal movement—to drive the joints and limbs of the humanoid robot.

[0003] The patent CN111959633, concerning a biomimetic drive device for humanoid robots, discloses a hydraulically driven legged biomimetic humanoid robot. It includes a leg mechanical structure and a hydraulic system. The leg mechanical structure is mounted in pairs on the robot's upper limb connecting frame. The leg mechanical structure comprises, from top to bottom, a hip joint, thigh plate, knee joint, calf plate, ankle joint, and foot plate. Under the control of the hydraulic system, the hip joint can perform rotation, lateral movement, and / or pitching movements; the knee joint can perform pitching movements; and the ankle joint can perform forward and backward pitching and / or left and right lateral movement. This biomimetic humanoid robot exhibits higher mobility, stronger obstacle avoidance capabilities, higher power-to-weight ratio, smoother operation with less directional impact, faster response, greater thrust, and stronger load capacity. The pump station system's components are vertically integrated and arranged, effectively reducing the robot's pump station volume and facilitating the connection of oil lines to the lower limb mechanism, thus enhancing its practicality.

[0004] However, the aforementioned bionic humanoid robots still have the following problems in actual use: Current bionic humanoid robots mainly move by imitating human upright walking. They are commonly used in indoor service scenarios such as hotel delivery and hospital guidance. On smooth and hard surfaces such as tiles, marble, and epoxy flooring, the robots usually adopt a "stepping" walking method. Due to limitations in gait stability and control precision, their movement speed is slow and their movement efficiency is low. Utility Model Content

[0005] To address the shortcomings of existing technologies, this invention provides a biomimetic drive device for humanoid robots, which can walk on smooth, hard surfaces using wheels, thereby increasing movement speed.

[0006] To achieve the above objectives, this utility model provides the following technical solution: A bionic drive device for a humanoid robot includes a foot installed under the robot's leg. Each of the four corners of the foot has a through-hole. Two through-holes at the front end of the foot have front tubes fixedly connected to their inner walls, and two through-holes at the rear end of the foot have rear tubes fixedly connected to their inner walls. The lower ends of the two front and two rear tubes have mounting tubes connected to their inner walls. The bottom surfaces of the two rear tube mounting tubes each have a ball cavity, and rolling balls are rolled inside each of the two ball cavities. The bottom surfaces of the two front tube mounting tubes each have a rotating groove. The front end of the foot and the lower ends of the two front tubes each have a lifting port. The inner walls of the lifting ports of the foot are connected to a second dual-head motor. The two output ends of the second dual-head motor are fixedly connected to transmission rods. The other ends of the two transmission rods pass through the lifting ports of the two front tubes and are fixedly connected to moving wheels. The two moving wheels are located in the two rotating grooves, and the lowest points of the two moving wheels and the two rolling balls protrude from the bottom surface of the foot.

[0007] Furthermore, an air extraction port is provided through the middle of the foot, and a support strip is fixedly connected to the inner wall of the upper end of the air extraction port. An exhaust fan is fixedly connected to the bottom surface of the middle of the support strip to draw out negative pressure and improve the foot's grip.

[0008] Furthermore, the sole of the foot has an indentation, and movable openings are provided on both sides of the indentation. A first double-headed motor is fixedly connected to the middle of the first movable opening. Both output shafts of the first double-headed motor are fixedly connected to lead screws. The other ends of the two lead screws are rotatably connected to the two ends of the first movable opening. Movable blocks are threaded onto the surfaces of the two lead screws. An auxiliary slide rod parallel to the two lead screws is fixedly connected to the inner wall of the second movable opening. Two other movable blocks are slidably connected to the surface of the auxiliary slide rod. The movable blocks on the lead screws and one of the movable blocks on the auxiliary slide rods form a group. An extension block is fixedly connected to one side of each of the two movable blocks in the same group. A baffle plate that blocks the air intake is fixedly connected to the adjacent side of the two extension blocks. The total size of the two baffle plates after alignment is not less than the size of the air intake, and the individual size of the two baffle plates is not less than the size of the front tube and the rear tube. The upper surfaces of the two baffle plates are slidably connected to the indentation. The side walls of the four movable blocks are slidably connected to the two movable openings respectively.

[0009] Furthermore, two mounting ports are opened on the top surface of each of the two movable ports, and movable plates are fixedly connected to the upper surface of each of the four movable blocks. Active components are connected to the middle of each of the four movable plates. Passive components are connected inside the two front tubes and the two rear tubes. The lower ends of the four passive components are connected to the upper ends of the four mounting tubes respectively, and the upper ends of the four passive components are connected to the four active components respectively.

[0010] Furthermore, the active component includes an air tube, an active power tube, a first rod, and a first piston. One end of the first rod is fixedly connected to the middle of the moving plate, and the other end of the first rod passes through the interior of the active power tube and is fixedly connected to one side of the first piston. The outer wall of the first piston is slidably connected to the inner wall of the active power tube. The outer wall of the active power tube at the end away from the first rod is fixedly connected to the inner wall of the mounting port. A vent is also provided at the end of the active power tube away from the first rod. The outer wall of the active power tube at the end near the first rod is fixedly connected to one end of the air tube. The other end of the air tube passes through to the outside of the foot and is connected to the passive component.

[0011] Furthermore, each of the four passive components includes an outer tube, a second rod, and a second piston. The outer walls of two outer tubes are fixedly connected to the inner wall of the upper end of the front tube, and the outer walls of the other two outer tubes are fixedly connected to the inner wall of the upper end of the rear tube. The upper ends of the four outer tubes are fixedly connected to the ends of the four air tubes away from the main power tube. The outer walls of the four second pistons are slidably connected to the inner walls of the four outer tubes. The bottom surfaces of the four second pistons are fixedly connected to the upper ends of the four second rods. The lower ends of the four second rods penetrate to the bottom of the outer tubes and are fixedly connected to the upper ends of the four mounting tubes.

[0012] Furthermore, several grooves are provided on the inner walls of the lower ends of the two front tubes and the two rear tubes, and several sliders are fixedly connected to the side walls of the upper ends of the four mounting tubes, with the sliders slidably connected to the grooves.

[0013] Furthermore, a guide groove is provided on one side of the foot lifting port, and a guide rod is fixedly connected to the inner wall of the guide groove. A connecting block is fixedly connected to the outer wall of the No. 2 double-head motor. The inner wall of the connecting block is slidably connected to the guide rod, and the outer wall of the connecting block is slidably connected to the guide groove.

[0014] Furthermore, a U-shaped accordion cover is fixedly connected between two moving blocks on the same side of the two shielding plates. The outer walls of the two U-shaped accordion covers are slidably connected to the two moving ports respectively. A support plate is fixedly connected to the side of each of the four extension blocks away from the moving blocks. An elastic shielding cloth is fixedly connected to the other side of each of the four support plates. A top plate is fixedly connected to the other end of each of the four elastic shielding cloths. The four support plates are respectively sleeved on the outside of the two lead screws and the outside of both ends of the auxiliary slide rod. The side walls at the upper end of the support plates are slidably connected to the moving ports. The U-shaped accordion cover and the elastic shielding cloth are located below the lead screws and the auxiliary slide rods.

[0015] Furthermore, a thrust spring and a telescopic rod are fixedly connected to the side of the support plate near the top plate, and the other end of the thrust spring and the telescopic rod are fixedly connected to the top plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. This type of humanoid robot uses a biomimetic drive device, which combines the moving wheels (front side) and rolling balls (rear side) at the four corners of the feet to achieve "skateboard-like" rolling movement on smooth hard surfaces such as tiles and marble, replacing the traditional "stepping" walking mode, improving the movement speed. The surface of the moving wheels is equipped with a rubber layer, which, together with the omnidirectional rolling characteristics of the rolling balls, takes into account both grip and flexibility, adapting to the rapid movement needs of indoor service scenarios. 2. This type of humanoid robot uses a biomimetic drive device. When walking or standing, the exhaust fan draws negative pressure through the air intake, making the feet fit tightly in the ground and improving grip. At the same time, the first dual-head motor drives the lead screw and the moving block to switch the shield between "covering the air intake" (rolling mode) and "covering the moving wheel / rolling ball" (walking mode), avoiding interference between components in different walking modes and improving scene adaptability. 3. This type of humanoid robot uses a biomimetic drive device. When the shield moves, the moving plate drives the first rod and the first piston in the active component to compress / release gas, which in turn drives the second rod and the second piston in the passive component to realize the lifting and lowering of the installation tube. It automatically retracts and extends the moving wheels / balls without the need for an additional power source, simplifying the control logic. In addition, the sliding grooves on the inner walls of the front and rear tubes slide in cooperation with the sliders on the outer wall of the installation tube to ensure the stability of the installation tube during lifting and lowering and to avoid tilting or jamming of the moving wheels. 4. This type of humanoid robot uses a biomimetic drive device. By setting U-shaped bellows covers and elastic shielding cloths at the bottom of the two moving ports, the moving ports and transmission components such as lead screws and auxiliary slides can be covered to prevent dust and debris from entering and affecting the life of the mechanical structure. At the same time, the elastic shielding cloth, together with the thrust spring and telescopic rod, adaptively moves the shielding plate to achieve dynamic sealing. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall appearance of the present utility model; Figure 2 This is a schematic diagram of the overall appearance of the present invention from another perspective; Figure 3 This is a schematic diagram of the overall appearance of the foot part of this utility model; Figure 4 This utility model Figure 3 A schematic diagram of the various components from another perspective; Figure 5 This utility model Figure 4 A schematic diagram showing the appearance when the center shield is located at both ends of the foot; Figure 6 This is a partial cross-sectional view of the foot of this utility model; Figure 7 This utility model Figure 6 A schematic diagram of the appearance of components such as the midfoot, support bars, and exhaust fan; Figure 8This utility model Figure 6 A further cross-sectional view of the midfoot; Figure 9 This utility model Figure 7 Further cross-sectional schematic diagrams of each component; Figure 10 This utility model Figure 9 Enlarged view of point A in the middle; Figure 11 This is a schematic diagram of the internal structure of the foot of this utility model; Figure 12 This utility model Figure 11 A schematic diagram of the various components from another perspective; Figure 13 This is a detailed connection diagram of the components of this utility model, including the shielding plate, the No. 1 dual-head motor, and the elastic shielding cloth. Figure 14 This utility model Figure 13 Enlarged view of point B in the middle; Figure 15 This is a cross-sectional and exploded view of the active component, passive component, and rolling ball of this utility model; Figure 16 This is a cross-sectional and exploded view of the active component, passive component, and No. 2 dual-head motor of this utility model.

[0018] In the diagram: 1. Robot leg; 2. Foot; 3. Support bar; 4. Exhaust fan; 5. Front tube; 6. Air pipe; 7. Air intake port; 8. Rear tube; 9. Baffle plate; 10. Caster wheel; 11. Ball bearing; 12. Outer tube; 13. Extension block; 14. Moving block; 15. U-shaped accordion cover; 16. Elastic shielding cloth; 17. Top plate; 18. Insert; 19. Mounting tube; 20. Support plate; 21. Mounting port; 22. Main power tube; 23. Rod number one 24. Moving plate; 25. Moving port; 26. Through port; 27. No. 1 double-headed motor; 28. Lead screw; 29. ​​Lifting port; 30. Transmission rod; 31. Guide groove; 32. No. 2 double-headed motor; 33. Connecting block; 34. Auxiliary slide rod; 35. Thrust spring; 36. Telescopic rod; 37. Ball cavity; 38. No. 1 piston; 39. Slide groove; 40. Slider; 41. No. 2 rod; 42. No. 2 piston; 43. Guide rod; 44. Rotary groove. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] Please see Figures 1-16A biomimetic drive device for a humanoid robot includes feet 2 mounted below the robot's legs 1. Each foot 2 has a through-hole 26 at one of its four corners. Front tubes 5 are fixedly connected to the inner walls of the two front holes 26 at the front end of the foot 2, and rear tubes 8 are fixedly connected to the inner walls of the two rear holes 26 at the rear end of the foot 2. Mounting tubes 19 are connected to the inner walls of the lower ends of the two front tubes 5 and the two rear tubes 8. Ball cavities 37 are formed on the bottom surfaces of the mounting tubes 19 of the two rear tubes 8. Rolling balls 11 are rotatably connected inside the two ball cavities 37. The two front tubes 5 are mounted on... The bottom surface of tube 19 is provided with a rotating groove 44. The front end of the foot 2 and the side wall of the lower end of the two front tubes 5 are provided with lifting ports 29. The inner wall of the lifting port 29 of the foot 2 is connected to a second double-head motor 32. The two output ends of the second double-head motor 32 are fixedly connected to a transmission rod 30. The other end of the two transmission rods 30 passes through the lifting ports 29 of the two front tubes 5 respectively and is fixedly connected to a moving wheel 10. The two moving wheels 10 are located in the two rotating grooves 44 respectively. The lowest point of the two moving wheels 10 and the two rolling balls 11 protrudes from the bottom surface of the foot 2.

[0021] like Figures 1 to 16 As shown, when the humanoid robot of this utility model is used on smooth hard surfaces such as ceramic tiles, marble, and epoxy flooring using a bionic drive device, the No. 2 dual-head motor 32 inside the lifting port 29 of the two feet 2 can be activated. After the No. 2 dual-head motor 32 is activated, its two output shafts can drive the two transmission rods 30 to rotate. The rotation of the two transmission rods 30 can drive the two moving wheels 10 inside the mounting tube 19 of the two front tubes 5 to rotate. This can cooperate with the two rolling balls 11 inside the mounting tube 19 of the two rear tubes 8 to move on the ground, so that the humanoid robot can move in a manner similar to a real person riding a "scooter", thereby increasing the moving speed of the humanoid robot on smooth surfaces. It is important to note here that: 1. Both the robot legs 1 and feet 2 are mature technologies found in existing humanoid robots, and humanoid robots also include, but are not limited to: Linear actuators that convert rotational motion into linear motion, used for joints such as the wrist, elbow, and knee; Rotary actuators that drive rotating joints such as the shoulder and hip, using a harmonic reducer (small size, high precision) or an RV reducer (large load) in conjunction with a motor. A dexterous hand actuator that integrates a hollow cup motor (lightweight and high-speed) and a micro reducer to enable fine manipulation of the fingers with 22+ degrees of freedom; 3D cameras (such as structured light solutions) enable SLAM navigation, while LiDAR is used as a visual sensor for obstacle avoidance in complex terrain. Six-dimensional force sensors (such as ATI models) measure XYZ forces and torques with an accuracy of 0.2%, and are used as force / torque sensors for wrist and ankle balance control. A 9-axis MEMS sensor (accelerometer + gyroscope + magnetometer) is used to monitor attitude in real time as an inertial measurement unit (IMU). It integrates CPU, GPU, NPU, and a main control chip for processing raw sensor data; In this utility model, only partial improvements are made to the disclosed structure. Structures not mentioned, such as the movement patterns of the humanoid robot's arms, legs 1, and feet 2, remain unchanged, retaining their original functions and effects. 2. The surface of the movable wheel 10 is provided with a rubber layer or other materials to improve anti-slip performance; 3. When the humanoid robot is walking normally, it can monitor its own center of gravity in real time through its own gyroscope and other monitoring sensors, thereby ensuring that the humanoid robot can maintain its balance when moving by the moving wheels 10. 4. When the humanoid robot is walking on the moving wheels 10, if there is an obstacle in front or it needs to turn, it can stop the moving wheels 10 and then move on the ground by "stepping" using the robot legs 1 (if this method is adopted, the two rolling balls 11 can be replaced with ordinary moving wheels 10 without the second dual-head motor 32 to avoid the humanoid robot from swaying); of course, it is also possible to turn by changing the rotation speed of the two second dual-head motors 32 under the two feet 2, provided that the center of gravity of the humanoid robot is stable. The specific method is not limited.

[0022] As a preferred embodiment of this utility model, an air extraction port 7 is provided through the middle of the foot 2, and a support strip 3 is fixedly connected to the inner wall of the upper end of the air extraction port 7. An exhaust fan 4 is fixedly connected to the bottom surface of the middle part of the support strip 3 to extract negative pressure and improve the grip of the foot 2.

[0023] More specifically, by setting up an air extraction port 7 and installing a support bar 3 and an exhaust fan 4 inside the air extraction port 7, the humanoid robot still needs to walk or stand using its two robot legs 1 when climbing stairs, turning, or stopping. To ensure the stability of the humanoid robot, the second dual-head motor 32 can be turned off so that the two moving wheels 10 cannot rotate. Then, the exhaust fan 4 is turned on. The negative pressure generated by the exhaust fan 4 increases the friction between the feet 2 and the ground, thereby improving the stability of the humanoid robot when "stepping" or standing.

[0024] In a preferred embodiment of this utility model, the bottom surface of the foot 2 is provided with a recess 18, and movable openings 25 are provided on both sides of the recess 18. A first double-headed motor 27 is fixedly connected to the middle of the first movable opening 25. Both output shafts of the first double-headed motor 27 are fixedly connected to lead screws 28. The other ends of the two lead screws 28 are rotatably connected to the two ends of the first movable opening 25. Movable blocks 14 are threadedly connected to the surfaces of the two lead screws 28. An auxiliary slide rod 34 parallel to the two lead screws 28 is fixedly connected to the inner wall of the second movable opening 25. Two other slide rods 14 are slidably connected to the surface of the auxiliary slide rod 34. Each movable block 14, the movable block 14 on the lead screw 28 and one of the movable blocks 14 on the auxiliary slide rod 34 are in a group. Each of the two movable blocks 14 in the same group is fixedly connected to an extension block 13 on one side. The adjacent sides of the two extension blocks 13 are fixedly connected to a baffle plate 9 that blocks the air extraction port 7. The total size of the two baffle plates 9 after alignment is not less than the size of the air extraction port 7, and the individual size of the two baffle plates 9 is not less than the size of the front tube 5 and the rear tube 8. The upper surfaces of the two baffle plates 9 are slidably connected to the slot 18. The side walls of the four movable blocks 14 are slidably connected to the two movable ports 25 respectively.

[0025] More specifically, since the humanoid robot has two usage scenarios, namely "skateboard-style" walking when the moving wheels 10 are activated and "stepping" on the ground directly through the feet 2, in order to avoid the humanoid robot affecting the other form when walking in one form, the insertion slot 18 and the moving slot 25 are set on the bottom surface of the feet 2, and a first dual-head motor 27, lead screw 28, auxiliary slide bar 34, moving block 14, extension block 13 and blocking plate 9 are set on both sides of the moving slot 25, so that the other form can be blocked when one form is used; Specifically: such as when using a skateboard-like walking method (e.g.) Figure 4 As shown), at this time, the two baffles 9 just cover the air inlet 7. At this time, the humanoid robot's feet 2 can stand on the ground through the two moving wheels 10 and the two rolling balls 11. When the second dual-head motor 32 is started, it can move on the ground through the moving wheels 10 and the rolling balls 11. Additionally, if walking is adopted (such as...) Figure 5 As shown), at this time, the first dual-head motor 27 starts, and the two output shafts of the first dual-head motor 27 drive the two lead screws 28 to rotate. The rotation of the two lead screws 28 drives the two moving blocks 14 to move to both sides simultaneously (that is, the state of the baffle 9 is from the previous state). Figure 5 State moved to Figure 4(State), and after the two moving blocks 14 move, they will also move the two extension blocks 13 at the same time. Then the two extension blocks 13 will move the baffle 9 in the slot 18. At the same time, the extension block 13 and the moving block 14 located on the other side of the baffle 9 can slide along the surface of the auxiliary slide bar 34, thereby ensuring the stable movement of the baffle 9 until the two baffles 9 move to the end of the slot 18. At this time, the two baffles 9 just cover the moving wheel 10 and the ball 11, so that when the exhaust fan 4 is started, the moving wheel 10 and the ball 11 can be prevented from contacting the ground, reducing the friction between the foot 2 and the ground; It should be noted that, in order to ensure that the baffle 9 stops precisely when it covers the moving wheel 10 or the ball 11, and at this time the moving block 14 also moves precisely to the apex of the moving port 25, the number of rotations of the output shaft of the first dual-head motor 27 can be preset to ensure that the moving block 14 stops precisely after it moves precisely to the end of the lead screw 28. Alternatively, a contact sensor can be installed at the point where the moving block 14 and the moving port 25 meet, and the first dual-head motor 27 can be automatically shut down after the contact sensor is triggered. Of course, other methods can also be used to automatically shut down the first dual-head motor 27, and the specific method is not limited.

[0026] As a preferred embodiment of this utility model, two mounting ports 21 are opened on the top surface of each of the two movable ports 25, and movable plates 24 are fixedly connected to the upper surface of each of the four movable blocks 14. Active components are connected to the middle of each of the four movable plates 24. Passive components are connected to the inside of each of the two front tubes 5 and the two rear tubes 8. The lower ends of the four passive components are respectively connected to the upper ends of the four mounting tubes 19, and the upper ends of the four passive components are respectively connected to the four active components.

[0027] More specifically, since the moving wheels 10 and the ball 11 need to move on the ground, the lowest point of the moving wheels 10 and the ball 11 must be higher than the bottom surface of the foot 2. However, in order to avoid the moving wheels 10 and the ball 11 contacting the ground and reducing the friction between the foot 2 and the ground when the exhaust fan 4 is working, an installation port 21 is opened above the moving port 25, and an active component is set inside the installation port 21 and a passive component is set inside the installation tube 19. When the two baffles 9 move along the slot 18 towards the front and rear ends of the foot 2, the moving wheels 10 and the ball 11 can be automatically retracted when the baffles 9 are displaced, thus avoiding contact with the moving wheels 10 and the ball 11. Conversely, when the exhaust fan 4 is turned off and the exhaust port 7 needs to be blocked, the moving wheels 10 and the ball 11 will automatically extend.

[0028] As a preferred embodiment of this utility model, the active component includes an air tube 6, an active force tube 22, a first rod 23, and a first piston 38. One end of the first rod 23 is fixedly connected to the middle of the moving plate 24, and the other end of the first rod 23 passes through the interior of the active force tube 22 and is fixedly connected to one side of the first piston 38. The outer wall of the first piston 38 is slidably connected to the inner wall of the active force tube 22. The outer wall of the active force tube 22 away from the first rod 23 is fixedly connected to the inner wall of the mounting port 21. The end of the active force tube 22 away from the first rod 23 is also provided with a vent. The outer wall of the active force tube 22 near the first rod 23 is fixedly connected to one end of the air tube 6. The other end of the air tube 6 passes through the outside of the foot 2 and is connected to the passive component.

[0029] Each of the four passive components includes an outer tube 12, a second rod 41, and a second piston 42. The outer walls of two outer tubes 12 are fixedly connected to the inner wall of the upper end of the front tube 5, and the outer walls of the other two outer tubes 12 are fixedly connected to the inner wall of the upper end of the rear tube 8. The upper ends of the four outer tubes 12 are fixedly connected to the ends of the four air pipes 6 away from the main power pipe 22. The outer walls of the four second pistons 42 are slidably connected to the inner walls of the four outer tubes 12. The bottom surfaces of the four second pistons 42 are fixedly connected to the upper ends of the four second rods 41. The lower ends of the four second rods 41 extend to the bottom of the outer tubes 12 and are fixedly connected to the upper ends of the four mounting pipes 19.

[0030] More specifically, when the first dual-head motor 27 starts, the two baffles 9 move towards both ends of the foot 2 under the action of the moving block 14. At the same time, the moving block 14 also pushes the first rod 23 and the first piston 38 to move inside the main force tube 22 (e.g., Figure 15 and Figure 16 As shown), because the air tube 6 is located at the end of the main power tube 22 near the first rod 23, when the first piston 38 moves, it will enlarge the cavity on the side of the first piston 38 near the first rod 23, and the air tube 6 will draw the gas inside the outer tube 12 into the main power tube 22. While the gas inside the outer tube 12 is being drawn away, the second piston 42 and the second rod 41 will also be lifted by atmospheric pressure, which will lift the mounting tube 19 at the lower end of the second rod 41 together. This will lift the moving wheel 10 and the ball 11 inside the mounting tube 19 together, so that the bottom of the foot 2 can be in contact with the bottom surface, and the moving wheel 10 and the ball 11 will not affect the function of the exhaust fan 4. Conversely, when the first dual-head motor 27 moves the moving block 14 to the air extraction port 7, the first rod 23 pulls the first piston 38 to push the air previously drawn into the main power pipe 22 back into the outer pipe 12 through the air pipe 6. This forces the second piston 42 and the second rod 41 downwards, thereby pushing out the moving wheel 10 and the ball 11 in the mounting pipe 19 at the lower end of the second rod 41. This allows the moving wheel 10 and the ball 11 to touch the ground, enabling the humanoid robot to move using the moving wheel 10 and the ball 11. It should be noted that the purpose of setting a vent at the end of the main force tube 22 away from the first rod 23 is to prevent the gas at the other end of the main force tube 22 from being pushed out when the first piston 38 moves, so as not to affect the normal movement of the first piston 38.

[0031] As a preferred embodiment of this utility model, the inner walls of the lower ends of the two front tubes 5 and the two rear tubes 8 are provided with a number of sliding grooves 39, and the side walls of the upper ends of the four mounting tubes 19 are fixedly connected with a number of sliders 40, which are slidably connected to the sliding grooves 39.

[0032] More specifically, by setting a sliding groove 39 inside the front tube 5 and the rear tube 8, and setting a slider 40 outside the mounting tube 19, the mounting tube 19 can always maintain an angle during passive lifting and lowering, and in particular, it will not cause the moving wheel 10 to tilt. It should be noted that if the ball bearing 11 is used inside the rear tube 8, then the groove 39 and slider 40 do not need to be set inside the rear tube 8 and outside the mounting tube 19. If the moving wheel 10 is also used inside the rear tube 8, then the groove 39 and slider 40 are required to restrict it.

[0033] As a preferred embodiment of this utility model, a guide groove 31 is provided on one side of the lifting port 29 of the foot 2. A guide rod 43 is fixedly connected to the inner wall of the guide groove 31. A connecting block 33 is fixedly connected to the outer wall of the second double-head motor 32. The inner wall of the connecting block 33 is slidably connected to the guide rod 43, and the outer wall of the connecting block 33 is slidably connected to the guide groove 31.

[0034] More specifically, by setting a guide groove 31 on one side of the lifting port 29 of the foot 2, and setting a guide rod 43 and a connecting block 33 between the guide groove 31 and the second dual-head motor 32, firstly, the second dual-head motor 32 itself can be restricted from rotating, and only the two output shafts can drive the two transmission rods 30 to rotate; secondly, the second dual-head motor 32 can also adaptively lift and lower when the two mounting tubes 19 in the front tube 5 are raised and lowered.

[0035] As a preferred embodiment of this utility model, a U-shaped accordion cover 15 is fixedly connected between two movable blocks 14 on the same side of the two shielding plates 9. The outer walls of the two U-shaped accordion covers 15 are slidably connected to the two movable openings 25 respectively. A support plate 20 is fixedly connected to the side of each of the four extension blocks 13 away from the movable blocks 14. An elastic shielding cloth 16 is fixedly connected to the other side of each of the four support plates 20. A top plate 17 is fixedly connected to the other end of each of the four elastic shielding cloths 16. The four support plates 20 are respectively sleeved on the outside of the two lead screws 28 and the outside of both ends of the auxiliary slide rod 34. The side wall of the upper end of the support plate 20 is slidably connected to the movable opening 25. The U-shaped accordion cover 15 and the elastic shielding cloth 16 are located below the lead screws 28 and the auxiliary slide rod 34.

[0036] A thrust spring 35 and a telescopic rod 36 are fixedly connected to the side of the support plate 20 near the top plate 17. The other ends of the thrust spring 35 and the telescopic rod 36 are fixedly connected to the top plate 17.

[0037] More specifically, by installing U-shaped accordion covers 15 and elastic shielding cloths 16 inside both movable ports 25, the two movable ports 25 can be blocked, reducing the probability of dust and other debris from the external environment falling into the movable ports 25 and jamming the lead screw 28 or the movable block 14. Furthermore, because thrust springs 35 and telescopic rods 36 are also installed between the top plates 17 and support plates 20 at both ends of the elastic shielding cloth 16, it can remain uncompressed (i.e., the shielding plate 9 is below the exhaust port 7, such as...). Figure 4 (As shown) the top plate 17 is pushed out, so that the moving opening 25 can be blocked by the elastic shielding cloth 16 that is pushed out; In addition, such as Figure 4 and Figure 5 As shown, when the shield 9 moves toward both ends of the foot 2, the top plate 17 on the elastic shield 16 abuts against the inner wall of the slot 18. At this time, the thrust spring 35 and the telescopic rod 36 will be automatically compressed, so they will not hinder the movement of the shield 9. While the shield 9 is moving, the U-shaped accordion cover 15 will also be gradually stretched, so the two moving openings 25 will always be within the protection range, greatly reducing the probability of debris entering. Finally, it should be noted that when the humanoid robot walks in a "skateboard" manner, the pressure exerted on the two rolling balls 11 and the moving wheels 10 at the bottom of the foot 2 by the outer tube 12 (the pressure inside the outer tube 12 represents the pressure inside the main power tube 22) is greater than half of the total weight of the humanoid robot. This is because when the humanoid robot "steps" to walk, only one foot 2 is on the ground, and this foot needs to support the weight of the entire humanoid robot. Therefore, the air pressure support provided by the outer tube 12 must be sufficient to support it.

[0038] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A biomimetic drive device for a humanoid robot, comprising feet (2) mounted below the robot's legs (1), characterized in that: The four corners of the foot (2) are provided with openings (26). The inner walls of the two openings (26) at the front end of the foot (2) are fixedly connected with front tubes (5). The inner walls of the two openings (26) at the rear end of the foot (2) are fixedly connected with rear tubes (8). The inner walls of the lower ends of the two front tubes (5) and the two rear tubes (8) are connected with mounting tubes (19). The bottom surface of the mounting tubes (19) of the two rear tubes (8) is provided with ball cavities (37). The inside of the two ball cavities (37) is connected with rolling balls (11). The bottom surface of the mounting tubes (19) of the two front tubes (5) is provided with rotating grooves (44). Lifting ports (29) are provided on the inside of the front end of the foot (2) and the side walls of the lower ends of the two front tubes (5). The inner wall of the lifting port (29) of the foot (2) is connected to a No. 2 double-head motor (32). The two output ends of the No. 2 double-head motor (32) are fixedly connected to transmission rods (30). The other ends of the two transmission rods (30) pass through the lifting ports (29) of the two front tubes (5) respectively and are fixedly connected to moving wheels (10). The two moving wheels (10) are located in the two rotating grooves (44) respectively. The lowest point of the two moving wheels (10) and the two rolling balls (11) protrudes from the bottom surface of the foot (2).

2. The bionic drive device for a humanoid robot according to claim 1, characterized in that: An air extraction port (7) is provided through the middle of the foot (2). A support strip (3) is fixedly connected to the inner wall of the upper end of the air extraction port (7). An exhaust fan (4) is fixedly connected to the bottom surface of the middle of the support strip (3) to extract negative pressure and improve the grip of the foot (2).

3. The bionic drive device for a humanoid robot according to claim 2, characterized in that: A recess (18) is provided on the bottom surface of the foot (2). Movable openings (25) are provided on both sides of the recess (18). A first double-headed motor (27) is fixedly connected to the middle of the first movable opening (25). A lead screw (28) is fixedly connected to the two output shafts of the first double-headed motor (27). The other ends of the two lead screws (28) are rotatably connected to the two ends of the first movable opening (25). Movable blocks (14) are threadedly connected to the surfaces of the two lead screws (28). An auxiliary slide rod (34) parallel to the two lead screws (28) is fixedly connected to the inner wall of the second movable opening (25). Two other movable blocks (14) are slidably connected to the surface of the auxiliary slide rod (34). The movable block (14) on (28) and one of the movable blocks (14) on the auxiliary slide rod (34) are a group. The two movable blocks (14) in the same group are fixedly connected to one side of an extension block (13). The two extension blocks (13) are fixedly connected to a shield (9) that blocks the air intake (7) on their adjacent sides. The total size of the two shields (9) after alignment is not less than the size of the air intake (7), and the individual size of the two shields (9) is not less than the size of the front tube (5) and the rear tube (8). The upper surface of the two shields (9) is slidably connected to the inlet (18). The side walls of the four movable blocks (14) are slidably connected to the two movable ports (25) respectively.

4. The bionic drive device for a humanoid robot according to claim 3, characterized in that: Two mounting ports (21) are opened on the top surface of the two movable ports (25). The upper surfaces of the four movable blocks (14) are fixedly connected to the movable plates (24). The middle of the four movable plates (24) is connected to the active components. The interiors of the two front tubes (5) and the two rear tubes (8) are connected to the passive components. The lower ends of the four passive components are connected to the upper ends of the four mounting tubes (19) respectively. The upper ends of the four passive components are connected to the four active components respectively.

5. A bionic drive device for a humanoid robot according to claim 4, characterized in that: The active component includes an air tube (6), an active force tube (22), a first rod (23), and a first piston (38). One end of the first rod (23) is fixedly connected to the middle of the moving plate (24), and the other end of the first rod (23) passes through the interior of the active force tube (22) and is fixedly connected to one side of the first piston (38). The outer wall of the first piston (38) is slidably connected to the inner wall of the active force tube (22). The outer wall of the active force tube (22) away from the first rod (23) is fixedly connected to the inner wall of the mounting port (21). The end of the active force tube (22) away from the first rod (23) is also provided with a vent. The outer wall of the active force tube (22) near the first rod (23) is fixedly connected to one end of the air tube (6). The other end of the air tube (6) passes through the outside of the foot (2) and is connected to the passive component.

6. The bionic drive device for a humanoid robot according to claim 5, characterized in that: Each of the four passive components includes an outer tube (12), a second rod (41), and a second piston (42). The outer walls of two outer tubes (12) are fixedly connected to the inner wall of the upper end of the front tube (5), and the outer walls of the other two outer tubes (12) are fixedly connected to the inner wall of the upper end of the rear tube (8). The upper ends of the four outer tubes (12) are fixedly connected to the ends of the four air pipes (6) away from the main power pipe (22). The outer walls of the four second pistons (42) are slidably connected to the inner walls of the four outer tubes (12). The bottom surfaces of the four second pistons (42) are fixedly connected to the upper ends of the four second rods (41), and the lower ends of the four second rods (41) penetrate to the bottom of the outer tube (12) and are fixedly connected to the upper ends of the four mounting tubes (19).

7. A bionic drive device for a humanoid robot according to claim 1, 2, 3, 4, 5 or 6, characterized in that: The inner walls of the lower ends of the two front tubes (5) and the two rear tubes (8) are provided with several sliding grooves (39), and the side walls of the upper ends of the four mounting tubes (19) are fixedly connected with several sliders (40), and the sliders (40) are slidably connected to the sliding grooves (39).

8. A bionic drive device for a humanoid robot according to claim 1, 2, 3, 4, 5 or 6, characterized in that: A guide groove (31) is provided on one side of the lifting port (29) of the foot (2). A guide rod (43) is fixedly connected to the inner wall of the guide groove (31). A connecting block (33) is fixedly connected to the outer wall of the No. 2 double-head motor (32). The inner wall of the connecting block (33) is slidably connected to the guide rod (43), and the outer wall of the connecting block (33) is slidably connected to the guide groove (31).

9. A bionic drive device for a humanoid robot according to claim 3, 4, 5 or 6, characterized in that: A U-shaped accordion cover (15) is fixedly connected between two moving blocks (14) on the same side of the two shielding plates (9). The outer walls of the two U-shaped accordion covers (15) are slidably connected to the two moving ports (25). A support plate (20) is fixedly connected to the side of the four extension blocks (13) away from the moving blocks (14). An elastic shielding cloth (16) is fixedly connected to the other side of the four support plates (20). A top plate (17) is fixedly connected to the other end of the four elastic shielding cloths (16). The four support plates (20) are respectively sleeved on the outside of the two screw rods (28) and the outside of both ends of the auxiliary slide rod (34). The side wall of the upper end of the support plate (20) is slidably connected to the moving port (25). The U-shaped accordion cover (15) and the elastic shielding cloth (16) are located below the screw rod (28) and the auxiliary slide rod (34).

10. A bionic drive device for a humanoid robot according to claim 9, characterized in that: A thrust spring (35) and a telescopic rod (36) are fixedly connected to the side of the support plate (20) near the top plate (17), and the other ends of the thrust spring (35) and the telescopic rod (36) are fixedly connected to the top plate (17).

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