Legged robot

Abstract

To provide a legged robot that can have components replaced without the need for human's physical approach to a robot system.SOLUTION: A legged robot has a frame with a plurality of links in mechanical communication with a plurality of brackets, a plurality of legs, computer modules, and a power module. The frame forms a front, back, top, bottom, and sides. The plurality of legs are in mechanical communication with one or more of the plurality of brackets, each leg has a knee motor, an abduction motor and a hip motor. The computer module is in mechanical communication with one or more of the plurality of brackets and in electric communication with the plurality of legs. The power module is in mechanical communication with one or more of the plurality of brackets and in electrical communication with the plurality of legs and the computer module.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. Provisional Application No. 62 / 736,739, filed September 26, 2018. , and the predecessor to U.S. Provisional Application No. 62 / 736,743, filed September 26, 2018. The benefit of this application is claimed from the following applications, all of which are incorporated herein by reference: [Background technology]

[0002] Due to their electromechanical complexity, legged robots require the presence of highly trained technicians. Unless such robots are installed, maintenance and repairs can be difficult. This limits the functionality and usability of such robots. This may limit the use of the product, especially when technical personnel are not immediately available or due to complex designs. military equipment that may result in extended repair times or make in-field repairs difficult or impossible. Limited in stressful environments such as emergency or security situations. Components deteriorate rapidly. If you need a robot to work in harsh environments where the robot may become The problem can be further complicated when the robot system is at high risk of damage. The system is modularly designed, making it suitable for those with little repair experience or little knowledge of system design. It would be advantageous if the core parts could be replaced by users who do not have access to the robot. Since it may be desirable to use the system in environments that are hostile to human presence, The ability to replace parts without needing to be physically close to the robot system This can be advantageous.

[0003] Users of robots, especially legged robots, are increasingly looking for new robots for a variety of use cases and environments. For example, you may want to replace various major components without having to buy a new exoskeleton. The frame can be used to mount larger sensors, batteries or robot actuators and legs, or They may be larger in size to accommodate the suction actuators. Leg length may be adjusted for specific applications such as tunnel exploration or stair climbing. On the other hand, they are not capable of moving on certain substrates such as sand or mud, swimming underwater, or carrying heavy loads. For this reason, various motor sizes and types are used to meet specific missions and power requirements. This compatibility increases the ease of use of the robot in a wide range of use cases. This improves system performance and reduces costs for users.

[0004] Additionally, inert gas is injected into individual sealed assemblies to create positive pressure and Combustible gases, dust, and particles from the interior of the assembly may enter the assembly and cause a fire or explosive emission. This prevents equipment from being destroyed and can lead to fires in mines, gas plants, refineries, and other places where equipment must be intrinsically safe to operate. It is desirable that the device can be used in environments where this is necessary.

[0005] Finally, all electronics are isolated and mechanically sealed, with no external cover. Part assemblies that can be driven, reduce weight, and support quicker replacement of certain part assemblies It is desirable to have a product design. Summary of the Invention

[0006] Disclosure Summary [Problem to be solved by the invention]

[0007] Some or all of the above needs and / or problems are addressed by certain embodiments of the present disclosure. This can be dealt with. [Means for solving the problem]

[0008] In one aspect, the present invention is a legged robot having a legged member mechanically connected to a plurality of brackets. A frame having a plurality of links forming a front, a back, a top, a bottom, and sides. a frame having a plurality of legs mechanically connected to one or more of the plurality of brackets, The legs are each configured with a knee motor, an abduction motor, and a hip motor. A computer module that is mechanically connected to one or more of the legs and electrically communicates with the legs. The computer is mechanically connected to one or more of the legs and brackets. The legged robot includes a power module in electrical communication with a power module. [Brief description of the drawings]

[0009] The detailed description will be described with reference to the accompanying drawings, which are not necessarily to scale. The drawings are not to scale. The same reference numbers used in different figures are similar or or refers to the same term. [Figure 1] FIG. 1 is an exploded perspective view of a legged robot according to one embodiment of the present disclosure. [Diagram 2] FIG. 2 is a perspective view of a frame according to one embodiment of the present disclosure. [Diagram 3] FIG. 3 is a perspective view of a leg assembly according to one embodiment of the present disclosure. [Figure 4] FIG. 4 is a perspective view of an energy box according to one embodiment of the present disclosure. [Diagram 5] FIG. 5 is a perspective view of a computing box according to one embodiment of the present disclosure. [Figure 6] FIG. 6 is a side view of a portion of a frame according to one embodiment of the present disclosure. [Figure 7]FIG. 7 is a side view of a pod of a leg assembly according to one embodiment of the present disclosure. [Figure 8] FIG. 8 is a top view of a portion of a frame according to one embodiment of the present disclosure. [Figure 9] FIG. 9 is a top view of a pod in a leg assembly according to one embodiment of the present disclosure. [Figure 10] FIG. 10 is a front view of a sensor panel according to one embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Detailed Description In order that the present invention may be fully understood and readily practiced, there are provided herein preferred embodiments thereof. The description refers to the accompanying exemplary drawings, in which:

[0011] FIG. 1 shows an exploded perspective view of a robotic system 500 according to one embodiment of the present disclosure. The system 500 includes a leg assembly 2, a computing box 3, an energy box 4, and a frame 1 to which other components are fixed and connected. The frame 1 is Contemplated materials include, but are not limited to, metals, ceramics, plastics, composites, and wood. Generally, materials that are typically suitable for many applications are Typically it can be aluminum, steel, or a composite material.

[0012] The robotic system 500 includes a sensor panel 5, a sensor strip 6, and various components. These may include, but are not limited to, a sensor housing that supports the sensor, sensor, and connector. Clean, buttons, interface ports and buses, switches, even in the presence of electromagnetic fields It contains electrical components that can send and receive power from a source.

[0013] Non-limiting examples of sensor components include cameras, photoresistors, phototubes, phototransistors, and the like. Dielectrics, light sensors such as photocells, sound sensors such as microphones, LM34, LM35, T Temperature sensors such as MP35 or TMP36 sensors, push button switches, tactile bumpers - Contact sensors such as switches, or capacitive contact sensors such as touch screens, red Infrared (IR) transceivers, ultrasonic sensors, proximity sensors such as photoresistors, LIDA Distance sensors such as laser distance sensors and stereo cameras, including R, and pressure sensors such as barometers , tilt sensors such as analog mercury suspension glass sphere sensors, Global Positioning System (GPS ) sensors, digital magnetic compasses and other positioning sensors, accelerometers and other acceleration sensors, Electrical sensors such as iloscopes, inertial measurement units, voltmeters, radio frequency sensors, radar sensors, chemical sensors, or sensors that transmit and receive information or convert environmental information into analytically useful signals. There are other devices that can do this.

[0014] The sensor panel 5 is an electrical, sensory device that is attached to the front, back, or side of the frame 1. It may be a panel that holds intelligence and user interface components. Lip 6 may be secured by any suitable means, including but not limited to welding, clamping, adhesives, threaded fasteners, interference fits, magnetic The side brackets are attached by connecting techniques including, but not limited to, hook and loop, or similar joining techniques. Enclosure or connection of electrical and sensory components mounted on the bracket 8 or corner bracket 9 The sensor housing 7 may be connected to the computing box 3, the energy Box 4, Frame 1, or a panel attached to Frame 1 The mounting of the sensor housing 7 is not limited to the above. may be secured by adhesive, threaded fasteners, interference fit, magnetic, hook and loop, or similar connections. This can be accomplished by any coupling technique including mechanisms or within the robotic system 500. Alternatively, the sensor may be directly embedded in another component. In one non-limiting embodiment shown in FIG. The housing 7 can be attached to the computing box 3, but the sensor housing 7 is Obviously, this can be transferred to other components in the robot system 500.

[0015] Continuing to refer to FIG. 1, the frame 1 includes a frame 1 and a part fixed thereon. The brackets may include side brackets 8 and corner brackets 9 that provide structural support to the The side bracket 8 and the corner bracket 9 are Depending on the circumstances, it can be made of the same material as the frame 1. Generally, the side brackets 8 and and corner brackets 9 are designed with the specific functions of the robot system 500 in mind. For example, if the robot system 500 is intended to carry a large load, When the load is loaded, the side brackets 8 and corner brackets 9 support the load more firmly against gravity. To provide good support, it may be made of a stronger material than the other parts of the frame 1. Common materials suitable for many applications include steel, aluminum, and composite materials.

[0016] With continued reference to FIG. 1, the frame 1 may be connected to one or more leg assemblies 2. Each leg assembly 2 is adapted to allow the robotic system 500 to move translationally or autonomously within an environment in a controlled manner. allows the movement of the robotic system 500 such that it can move rotationally.

[0017] With further reference to FIG. 1, the robotic system 500 includes a and a computing device that may house electrical and computing components that assist in the control of the The robot system 500 may also include a control box 3. It may include an energy box 4 that houses components capable of storing and supplying power. Figure 1 shows the computing box 3 and the energy storage device 4 placed almost in the center of the frame 1. Although an energy box 4 is shown, other configurations may be used depending on the intended use of the robot system 500. For example, the energy box 4 can be moved up and the computing box Box 3 can be moved down. Energy Box 4 and Computing Box 3 may be moved forward or backward. Alternatively, either in frame 1, on frame 1, or Alternatively, it may be rotated in various configurations around the frame 1.

[0018] FIG. 2 is a diagram of a frame 1 according to one embodiment of the present disclosure. The frame 1 is a The side bracket 8 may be formed of a metal plate and may be secured by or to the side bracket 8. The side link 10 is fixed to the corner bracket 9. or an end link 11 fixed to the side link 10. In one embodiment, an additional end link 11 (not shown) is attached to the side bracket 8 via the side bracket. It may be fixed vertically to the drink 10, which increases weight and cost but is less flexible. Provides additional stability to frame 1. Fastening may be by welding, adhesive, clamps, interference fits, or other methods. The side links 10 and end links 11 may be joined by other joining techniques or mechanisms. Class 11 includes, but is not limited to, metals, ceramics, plastics, composites, and wood. The components may be made of any material suitable for the operating environment, including the operating temperature, humidity, and humidity levels. Common materials include steel, aluminum, and composite materials. Alternatively, the side links 10 and the end links 11 may be formed as hollow tubes.

[0019] The side link 10 and the end link 11 are one component of the robot system 500. It may be possible to send power and electronic signals from the sensor to other components. This includes, but is not limited to, The integrated circuits in the side link 10 and the end link 11, or the side link 10 and the end link This can be done in a variety of ways, including by wire or optical fiber housed within the connect link 11. In some non-limiting examples, power and other signals can be transmitted over external cables, sidelinks, 10 and / or cables embedded in the end links 11. and / or sensors or or via a recessed connector that engages when the sensor head is connected to the frame 1. It is possible.

[0020] The side brackets 8 can provide structural support to the frame 1 and can also support the energy It provides connection points to internal and external components such as the casing 4 and computing box 3. In some non-limiting examples, the side bracket 8 may include a threaded fastener, a clip, , adhesives, hook and loop, electromagnets, interference fits, or other similar attachment mechanisms. The energy box 4 and the computing box 3 can be connected to each other. In non-limiting examples, the side brackets 8 may be secured to the mounting base 10 by threaded fasteners, clips, adhesives, hooks, etc. The sensor panel 5 is connected to the sensor by a loop, electromagnet, interference fit, or other similar attachment mechanism. It can be coupled to a sus strip 6 and a sensor housing 7 (shown in FIG. 1).

[0021] The corner brackets 9 can provide structural support to the frame 1 and can also support the sensor panel. The sensor includes internal and external components such as the sensor cable 5, the sensor strip 6, and the sensor housing 7 (shown in FIG. 1). In some non-limiting examples, the corner brackets 9 may provide connection points to components. With fasteners, clips, adhesive, hook and loop, electromagnet, interference fit, or other A similar connection mechanism can be used to connect the sensor panel 5, the sensor strip 6, and the sensor housing. This can be done.

[0022] Although not shown in FIG. 1 or FIG. 2, a computing box 3, an energy The interior or exterior of the device includes a box 4, a sensor panel 5, a sensor strip 6, and a sensor housing 7. The external components may be sized according to the design of the robot system 500, taking into account the intended purpose of the robot system. It can be attached to either the front bracket 8, the corner bracket 9 or the frame 1. It is clear that...

[0023] The side bracket 8 also has an alignment guide 12 and an alignment fixture 13. The alignment guide 12 may be provided with a pin, spline, or , edge contacts, or similar mechanisms are used to attach to the leg assembly 2. Holes, prongs, or pegs (limited) that can provide mating and load-bearing connections The alignment fixture 13 may be a retention mechanism. Retention mechanisms may include threaded fasteners, clips, adhesives, hook and loop, fasteners, etc. Attach the leg assembly 2 to the frame 1 using a connector that includes a press fit, electromagnet, or other fastener. The alignment guide may include, but is not limited to, holes, protrusions, or pegs that align the alignment guide. One non-limiting example is where the guide 12 is a protrusion or peg and the alignment fixture 13 is a hole. In one non-limiting embodiment, not depicted in FIG. The corner bracket 9 includes an alignment guide 12 and an alignment fixture 13, 2, and may allow connection to the leg assembly 2 via the corner bracket 9. Such a configuration may be advantageous in certain driving situations.

[0024] With continued reference to FIG. 2, the frame 1 may include a load securing portion 14, which Includes threaded fasteners, clips, adhesives, hook and loop, electromagnets, interference fits, etc. A protection unit for holding an external device or load on frame 1 using a similar connector FIG. 2 shows a part of the side bracket 8 and the corner bracket 9. The luggage fixing unit 14 is shown as a standard, but the luggage fixing unit 14 can be used to fix luggage to specific user needs. The user can place the unit anywhere on the frame 1 so that it is firmly fixed in place. It can be arranged in the following configuration.

[0025] 1 and 2, the energy box 4 is easily and purposefully connected The engine can be connected to a side bracket 8 to engage or disengage the engine. The energy box 4 slides from the underside of the frame 1 into the port in the side bracket 8. Similarly, the computing box 4 may be easily and purposefully engaged or disengaged. The computing box 4 has a similar connection that is connected or disconnected to the top of the frame 1. It may be possible to slide in through it.

[0026] Referring again to Figure 2, the interior of Frame 1 is an isolated or semi-isolated environment. The panels may be mounted between each side bracket 8 and the corner bracket 9, as shown in FIG. These panels may be suitable for your use depending on their intended purpose. They can be made of any material. For example, the panels may serve decorative, supporting or protective purposes. FIG. 1 shows a sensor panel 5 mounted on a frame via a corner bracket 9. 1 shows an example of a panel according to one non-limiting embodiment attached to the front of the room 1. The fasteners may be secured by snap fits, interference fits, electromagnets, hook and loop, or similar methods. The side link 10 and the end link 11 are fixed to each other by the above connection method to provide additional support. It is also possible.

[0027] FIG. 3 is a diagram of a leg assembly 2 according to one embodiment of the present disclosure. The leg assembly 2 is a safety and isolating In a controlled environment, motor control electronics, as well as a subset of motors, reducers, The leg assembly 2 may also include a pod 15 that includes a sensor, a sensor array, a sensor module, a sensor array, a sensor array, an encoder, and a sensor array. The frame 1 is aligned with the alignment guide 12 and / or the alignment fixture 13. The pod 15 may include an interface bracket 16 that allows connection to an interface 16 for providing electrical power and / or electronic signals. The signal is received and directed to components within pod 15, thereby providing power to the components within pod 15. The pod 15 may also be capable of providing a Provides additional or alternative interfaces for providing power and electronic signals to internal components. The pod connector 18 may provide a pod connector 18 .

[0028] The leg assembly 2 also includes a leg part 17, which includes an upper leg hinged to a lower leg. , metals, composites, plastics, ceramics, etc., as deemed appropriate for the intended use. They are made of materials such as gypsum, carbide, and other materials, and are used in motors, reducers, transmissions, encoders, etc. The pod 15 may include additional internal electromotive components such as a photodiode. In response to inputs, the leg assemblies 2 enable the robotic system 500 to move independently through its environment. It is possible to perform translational or rotational movements with respect to frame 1 so that the The upper leg may be separated from the lower leg to allow replacement of the lower leg components. This may be done to repair a damaged lower leg, or to reconfigure the lower leg to a configuration more suited to the intended environment, e.g. This may be done to replace parts having different shapes. Similarly, the distal end of leg part 17 may be The may include a removable tread adapted for contact with an environmental surface or the ground. The removable tread shape can be optimized for the environment, These may include feet, fins, wheels, claws, etc.

[0029] 4 is a diagram of an energy box 4 according to one embodiment of the present disclosure. 4 includes, but is not limited to, chemical batteries, capacitors, fuel cells, internal engines, and other Electrical and computing department, including all computing and control systems The robot may have a protective housing 19 in which the robotic item is stored. The system may be constructed from materials specifically designed for the environment in which it will be used. For example, if such an environment is near or under water, the protective housing 19 may be provided with strong resistance. It can be constructed to be watertight from materials that are corrodible and have suitable buoyancy properties. .

[0030] Energy Box 4 is installed in Frame 1 by the user. The device may include an energy box guide 20 that can guide the heater. In an embodiment, the energy box guide 20 is configured to guide the energy box 4 to the frame 1. It has a unique geometric shape or frame that allows installation when oriented in a specific correct direction. The energy box 4 may be provided with additional structural support. The energy box may include a releasable energy box fastener 21 that may provide support. The fastener 21 may be a clamp, adhesive, a threaded fastener, an interference fit, a magnetic, or a hook and loop fastener. Droop, push pin or "push and click" connector, or similar release In one non-limiting embodiment, the energy box is fixed The fixing portion 21 is a hole that engages with the bracket fixing portion 26 arranged on the side bracket 8. This is also fine.

[0031] The energy box 4 also includes a power and electronics supply between the components in the energy box 4. The device may have an electrical connector 22 that allows for the transmission of a signal. The electrical connector 22 may include an energy Any device for transmitting electronic signals and power to and from components outside or within Box 4. The methods or mechanisms may include, but are not limited to, wired connections, integrated circuits, wireless In one non-limiting example, the energy connector may be The connector 22 may be a conductive material embedded within the protective housing 19, which upon contact Electronic signals and power can be transmitted from the outside of the energy box 4 to the components inside. In one non-limiting example, the energy connector 22 is made of a highly conductive metal such as silver or copper. or other electrically useful materials.

[0032] 5 is a perspective view of the computing box 3. 3 includes a protective housing 23 in which the electrical, computing, and control components are housed. The protective housing 23 is specially designed for the environment in which the robot system 500 is used. For example, such environments may be near or under water. In this case, the protective housing 23 is made of a material that is highly resistant to corrosion and has suitable buoyancy properties and is watertight. In one non-limiting embodiment, the sensor housing 7 can be configured as shown in FIG. As shown at 5, it may be attached to or integral with a protective housing 23.

[0033] Computing box 3 is installed in frame 1. A computing box guide that can easily guide users to place 24. In one non-limiting aspect, the computing box guide 24 may include , computing box 3 is oriented in a specific correct direction relative to frame 1. It may also be a unique geometric shape or frame that allows installation only when the Computing Box 3 provides additional structural support to Computing Box 3 The computing box may include a releasable fixed portion 27. The mounting box fastener 27 may be a clamp, adhesive, a threaded fastener, an interference fit, a magnetic, Lock and loop, push pin or "push and click" connectors, or similar In one non-limiting embodiment, the present invention may be a releasable support technology such as a computing The gasket fixing portion 27 is engaged with the bracket fixing portion 26 arranged on the side bracket 8. It may also be a hole through which

[0034] FIG. 6 is a side view of an inner end of a frame 1 according to one embodiment of the present disclosure, showing alignment guides. 12 and the side bracket 8 and the corner bracket 9 including the alignment fastener 13 The side brackets 8 and corner brackets 9 are also attached to the upper side of the frame 1. The frame 1 may include an alignment guide 12 and an alignment fixture 13. The power component assembly can be connected to other power component assemblies other than the leg assembly 2, so that other The interface bracket 16 can accommodate different types of 1. The alignment guide 12 and the position Allows for controlled connection and interfacing with the frame 1 via mating fixture 13 Other component assemblies include wheels, treads, spinning rotors, and gyroscopes. Utilizing a fan, turbine, thrust element, or other mechanism to achieve controlled motion These assemblies may be attached to the top of the side brackets 8 and corner brackets 9. or to the frame 1 via the alignment guide 12 and alignment fixing part 13 at the bottom. It can be installed.

[0035] The alignment guide 12 and alignment fixture 13 are optionally disposed in a pod 15. The leg assembly 2 is connected to the frame 1 via a connection with the interface bracket 16. In one non-limiting embodiment, the interface can transmit electrical signals and power. The face bracket 16 is a pair that engages with the alignment fixture 13, both parts being conductive. The frame 1 may include an energy box 4 and a computing box 3 can be sent to the alignment fixture 13, which then supplies power and and electrical signals are sent through the pegs to the interface bracket 16 and the leg assembly 2. The interface bracket 16, the side bracket 8, and the The interface between the core bracket 9 may be interchangeable, and the electrical connection may be The alignment is established via the alignment guide 12 from the alignment fixing portion 13. The connections are realized through means other than pins and holes. For example, the connections are realized through wire connections. There may be an interface bus for the power and signals to be transmitted using wireless remote transmission technology. may be transmitted to leg assembly 2 via

[0036] Referring to FIG. 6, the side bracket 8 includes an energy box fixing portion 21 and a component fixing portion 22. The bracket includes a bracket fixing portion 26 that can be engaged with a mounting box fixing portion 27. , thereby including but not limited to threaded fasteners, clips, adhesives, hook and loop Through a satisfactory connection mechanism such as a magnet, a "push and click" connector, or an interference fit In another non-limiting embodiment, the corner brackets 9 may also provide structural support. , the bracket may include a fastening portion 26, thereby allowing a similar connection (see FIG. 6). (not shown).

[0037] 7 is a side view of a pod 15 in a leg assembly 2 according to one embodiment of the present disclosure. 15 may include an interface bracket 16 that connects the leg assembly 2 to the frame 1. In one non-limiting embodiment, the interface bracket 16 is attached to a mating The flexible parts, such as the alignment guide 12 and the pots that engage the alignment fixtures, respectively, are The pod may include a pod fixing portion 31 and a pod guide 32.

[0038] The pod guide 32 may include, but is not limited to, alignable holes, protrusions, or pegs. Use of geometric configurations and pins, splines, edge contacts, or similar features The pod mounting portion 3 may include a load-bearing connection when attaching the leg assembly 2 to the frame 1. 1 may be a retention mechanism including, but not limited to, holes, protrusions, or pegs. No, but threaded fasteners, clips, adhesives, hook and loop, interference fits, electromagnets or other fastenings to the frame 1. In one non-limiting embodiment, the pod guide 12 may be a protrusion or The pod fixing portion 13 may be a hole, and the pod guide 32 and the pod The head fixing portion 31 is connected to the alignment guide 12 or the alignment fixing portion 13. , electrical signals and power can be transmitted from the frame 1 to the pod 15.

[0039] FIG. 8 is a top view of the frame 1 according to one embodiment of the present disclosure. The side brackets 8 are Interacts with the Energy Box Guide 20 or the Computing Box Guide 24 The ribs 25 can be attached to the frame 1 in a manner that prevents incorrect attachment. The protrusions 25 are arranged so that the energy box 4 or the computing box 3 is fixed to the frame. 1, which allows installation only when oriented in a specific, correct direction. The side bracket 8 is supported by a protrusion 25. Once the correct installation is done, the energy box fixing part 21 and the computing The bracket fastener 26 engages with the box fastener 27, thereby providing sufficient connection functionality. Structural support can be provided via a connection mechanism, which can include, but is not limited to, threaded fasteners. parts, clips, adhesives, hook and loop, magnets, "push and click" connectors In another non-limiting embodiment, the corner bracket 9 may also include a projection. 25 and bracket fastening portion 26, thereby allowing a similar connection (only (although this particular configuration is not shown in FIG. 8).

[0040] FIG. 9 is a top view of the pod 15 and leg assembly 2 according to one embodiment of the present disclosure. 15 includes an outer rotation motor 29, which includes a motor and the necessary gear train, encoder, and Electrical and control components such as the motor controller and the legs centered on the abduction axis AA. The pod 15 may include a dynamic transmission system designed to actuate the rotation of the part 17. The system also includes a hip motor 30, which includes a motor and the necessary gear train, encoder, and The electric and control components, such as the actuator and motor controller, as well as the hip joint axis HA are The knee joint may include a dynamic transmission system designed to actuate the rotation of the leg component 17. The motor 28 includes the motor and the necessary gear train, encoder, and motor controller. and control parts, as well as for actuating the rotation of the leg part 17 about the knee axis KA. In one non-limiting example, the axes HA and KA may include an engineered dynamic transmission system. In one non-limiting example, the knee motor 28 may be located close to axis HA to minimize inertia.

[0041] In one non-limiting example, the pod 15 is mechanically coupled to the frame 1. The abduction motor 29 may be mechanically coupled to the frame 1. The mechanical output of the abduction motor 29 is The mechanical output of the hip joint motor 30 can be transmitted to the knee motor 2. 8.

[0042] The pod 15 includes a computing box 3, a knee motor 28, an abduction motor 29, and and a motor controller (not shown) in communication with one or more of the hip motors 30. The motor controller in Pod 15 operates, and the result is that the motor controller in Computing Box 3 The number of wires from the power supply to the pod 15 is reduced, for example, in one non-limiting example, to two In another embodiment, the pod 15 and the motor may be Additional or alternative power can be received from Gearbox 4.

[0043] 10 is a front view of a sensor panel 5 according to one embodiment of the present disclosure. Electrical, sensory and user interface devices attached to the front, back or side of the frame 1 The sensor panel 5 may be a panel that supports or provides connections for components of the interface. , including but not limited to, sensors, screens, buttons, interface ports and buses, A switch is an electrical component that can receive or transmit power from an external source in the presence of an electromagnetic field. In one non-limiting embodiment, the sensor may support a variety of components and connectors, including The panel 5 is an electrical interface that allows the robotic system 500 to be charged via connection to an external power source. In one non-limiting embodiment, the sensor panel 9 is adapted to have a variety of connection technologies. The corner bracket 9 can be attached by, for example, welding, clamping, or bonding. Adhesives, threaded fasteners, interference fits, magnetic, hook and loop, or similar joining techniques It is.

[0044] The above description describes the best modes contemplated for carrying out the present invention, and the methods and methods for carrying them out. The methods and processes implemented are fully detailed to enable those skilled in the art to practice these embodiments. However, the present embodiment is presented in clear, concise and precise terms. Certain modifications and alternative structures may be made to the above-described embodiments. is not limited to the particular embodiments disclosed. Rather, the invention is construed in accordance with the spirit and scope of the present disclosure. It covers all modifications and alternative constructions that fall within the scope of the present invention. The steps in this procedure do not have to be performed in the same order as presented and can be performed in any order. Additionally, steps presented as being performed separately may be implemented in alternative embodiments. Similarly, steps presented as being performed simultaneously may be In alternative embodiments, they may be performed separately.

Claims

1. A legged robot, A frame including a plurality of links mechanically connected to a plurality of brackets, the frame having a front, a rear a frame forming a top, bottom and sides; a plurality of legs mechanically connected to one or more of the plurality of brackets, each leg comprising: , a plurality of legs including knee motors, abduction motors, and hip motors; a first connecting member that is mechanically connected to one or more of the plurality of brackets and electrically connected to the plurality of legs; a computer module that communicates with the a plurality of legs and a plurality of contacts connected to one or more of the plurality of brackets; a power module in electrical communication with the computer module; Legged robot.

2. a motor housing for housing the hip motor and the abduction motor; The legged robot according to claim 1 .

3. The motor housing includes a motor controller that is in electrical communication with the computer module. Houses the La, The legged robot according to claim 2 .

4. The abduction motor, hip motor, and knee motor each have a corresponding encoder. and each corresponding encoder is in electronic communication with the motor controller. The legged robot according to claim 3.

5. The abduction motor operates the motor housing. The legged robot according to claim 2 .

6. The motor housing is mechanically fixed to one or more of the brackets via a mechanical fixing portion. is linked to The legged robot according to claim 2 .

7. The mechanical fixation portion transmits one of power and an electrical signal to the motor housing. To promote 7. The legged robot according to claim 6.

8. the hip motor is mechanically coupled to the output of the abduction motor; The legged robot according to claim 1 .

9. The knee motor is mechanically coupled to the output of the hip motor. The legged robot according to claim 1 .

10. The knee motor is mechanically coupled to an upper leg member, the upper leg member being coupled to a lower leg member by a joint. mechanically connected to the material; The legged robot according to claim 1 .

11. a computer module that is mechanically coupled to one or more of the plurality of brackets; a sensor head in electrical communication with one or more of the power modules and In preparation for The legged robot according to claim 1 .

12. The computer module and the power module are disposed within an interior space within the frame. at least partially disposed within 2. The legged robot according to claim 1.

13. one or more of the plurality of brackets includes a load securing portion; The legged robot according to claim 1 .

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