CN-117048735-B - Foot robot and motion control method thereof

CN117048735BCN 117048735 BCN117048735 BCN 117048735BCN-117048735-B

Abstract

The application relates to a foot robot and a motion control method thereof, wherein the foot robot comprises a leg foot main body, a foot control device and a foot control device, wherein the leg foot main body comprises a first motor, a second motor, a thigh and a shank, the second motor is respectively connected with an output shaft of the first motor and the thigh, the shank is hinged with the thigh, and the second motor is in transmission connection with the shank; the leg and foot device comprises a first motor, a second motor, a first limiting structure, a second limiting structure and a control device, wherein the first limiting structure is arranged or formed on the first motor and/or the second motor and is used for limiting the second motor to rotate relative to the first motor when the leg and foot body is switched from a motion state to a standing state, the second limiting structure is arranged or formed on the thigh and/or the shank and is used for limiting the shank to rotate relative to the thigh when the leg and foot body is switched from the motion state to the standing state, and the control device is electrically connected with the first motor and the second motor and is used for controlling the first motor and the second motor to stop outputting power when the leg and foot body is switched from the motion state to the standing state, and at the moment, the first limiting structure, the second limiting structure and the leg and foot body are mechanically limited, so that the energy consumption of a battery is reduced.

Inventors

Liang Gaorui
TAN HONGYANG
WANG HONGFEI
JIANG MINGWU

Assignees

苏州光格科技股份有限公司

Dates

Publication Date: 20260508
Application Date: 20230811

Claims (6)

1. A foot-type robot, which comprises a foot-type robot body, characterized by comprising the following steps: The leg foot main body comprises a first motor, a second motor, a thigh and a shank, wherein the second motor is respectively connected with an output shaft of the first motor and the thigh, the shank is hinged with the thigh, and the second motor is in transmission connection with the shank; The first limiting structure is used for limiting the second motor to rotate relative to the first motor when the leg and foot main body is switched from a motion state to a standing state; the second limiting structure is used for limiting the rotation of the lower leg relative to the thigh when the leg-foot main body is switched from a motion state to a standing state; The control device is electrically connected with the first motor and the second motor and is used for controlling the first motor and the second motor to stop outputting power when the leg and foot main body is switched from a motion state to a standing state; The first limiting structure comprises a first blocking part, a first matching part, a limiting part and a first driver, wherein the first blocking part is arranged or formed on the limiting part, one of the limiting part and the first matching part is arranged or formed on the first motor, the other one of the limiting part and the first matching part is arranged or formed on the second motor, the first matching part is in limiting abutting joint with the first blocking part when the leg and foot main body is in a standing state, and the first driver is connected with the limiting part and is in communication connection with the control device so as to adjust the position of the limiting part on the first motor or the second motor in the rotating direction of the first motor relative to the second motor; And/or, the second limit structure comprises a second blocking part, a second matching part, a blocking part and a second driver, wherein the second blocking part is arranged or formed on the blocking part, one of the blocking part and the second matching part is arranged or formed on the thigh, the other one of the blocking part and the second matching part is arranged or formed on the shank, the second matching part is in limit abutting joint with the second blocking part when the leg main body is in a standing state, and the second driver is connected with the blocking part and in communication connection with the control device so as to adjust the fixed position of the blocking part on the shank or the thigh.
2. The foot robot of claim 1, wherein the first blocking portion includes two blocking surfaces, the two blocking surfaces being disposed at a distance from each other and located on an arc line having an output shaft of the first motor as an axis, the arc line being a movement track line of the first mating portion when moving relative to the two blocking surfaces.
3. The foot robot of claim 1 wherein the foot robot comprises, The lower leg can swing clockwise to a first limit position relative to the thigh, and the second limit structure is used for limiting the lower leg to swing clockwise relative to the thigh and stop at the first limit position; and/or the number of the groups of groups, The lower leg can swing anticlockwise to a second limit position relative to the thigh, and the second limit structure is used for limiting the lower leg to swing anticlockwise relative to the thigh and stop at the second limit position.
4. A motion control method for a foot robot according to any one of claims 1-3, comprising the steps of: Collecting motion state parameters, wherein the motion state parameters comprise the rotation angle of the first motor and/or the second motor; and according to standing instructions and the movement state parameters, controlling the leg and foot main body to be switched from the movement state to the standing state, and controlling the first motor and the second motor to stop outputting power in the standing state.
5. The method for controlling motion of a foot robot according to claim 4, wherein, The motion state parameters further comprise preset standing time, the preset standing time is set corresponding to the standing time required by standing inspection of the foot-type robot, the preset standing time is not smaller than the standing time required by standing inspection, and the motion control method further comprises the step that after the leg-foot main body keeps the standing state for the preset standing time, the control device controls the first motor and the second motor to start, and the leg-foot main body is switched from the standing state to the motion state.
6. The motion control method of a foot robot according to claim 4 or 5, further comprising the steps of: The control device sends an adjusting signal to the first driver to adjust the position of the limiting piece on the first motor or the second motor, and/or the control device sends an adjusting signal to the second driver to adjust the fixed position of the blocking piece on the thigh or the calf to move to the set position.

Description

Foot robot and motion control method thereof Technical Field The application relates to the technical field of foot robots, in particular to a foot robot and a motion control method thereof. Background With the continuous development of robot technology, foot-type robots are gradually applied to various scenes in the fields of military industry, inspection, logistics and the like by virtue of the advantages of strong terrain adaptability, wide application range, good environment interactivity and the like. Currently, a foot robot includes a body main body and leg and foot modules respectively connected with the body main body, and the leg and foot modules are generally controlled by three motors, namely a hip joint motor, a thigh motor and a shank motor, to realize the motion of the foot robot. However, in actual operation, the thigh motor and the shank motor take on most of the energy consumption of the foot robot in the sport state and the standing state. And even if the foot type robot stands still for a long time, the leg foot module still needs to keep certain torque output by the joints when the foot type robot keeps a standing posture, so that the thigh motor and the shank motor are still in a load working state when the foot type robot stands, the energy is continuously consumed, the cruising ability of the foot type robot is influenced, and the adaptability of the foot type robot is greatly limited. Disclosure of Invention Based on this, it is necessary to provide a foot robot and a motion control method thereof, which address the problem of large energy consumption in a standing state. The application provides a foot robot, comprising: The leg foot main body comprises a first motor, a second motor, a thigh and a shank, wherein the second motor is respectively connected with an output shaft of the first motor and the thigh, the shank is hinged with the thigh, and the second motor is in transmission connection with the shank; The first limiting structure is arranged or formed on the first motor and/or the second motor and is used for limiting the second motor to rotate relative to the first motor when the leg and foot main body is switched from a motion state to a standing state; The second limiting structure is arranged or formed on the thigh and/or the shank and is used for limiting the shank to rotate relative to the thigh when the leg foot main body is switched from a motion state to a standing state; And the control device is electrically connected with the first motor and the second motor and is used for controlling the first motor and the second motor to stop outputting power when the leg and foot main body is switched from a motion state to a standing state. When the foot robot is required to stand still, the control device controls the first motor and the second motor to rotate for a set angle, the leg main body is switched from the moving state to the standing state, at the moment, the first limiting structure limits the second motor to rotate relative to the first motor, the thigh stops moving, the second limiting structure limits the calf to rotate relative to the thigh, the calf stops moving, and the control device controls the first motor and the second motor to stop outputting power, so that the aim of saving energy consumption is achieved. The mechanical limit of the leg and foot main body is kept self-locking through the first limit structure and the second limit structure to keep the standing state, and meanwhile, the motor torque of the first motor and the motor torque of the second motor are released, so that the battery energy consumption is reduced, the running time is prolonged, the design selection of parameters such as the running time, the battery capacity, the whole machine weight and the like of the foot robot can be facilitated, and the adaptability of the foot robot is greatly expanded. In one embodiment, the first limiting structure includes: A first blocking portion; and the first matching part is arranged or formed on the first motor, one of the first matching part and the first blocking part is arranged or formed on the second motor, and the first matching part is in limit abutting joint with the first blocking part when the leg and foot main body is in a standing state. In one embodiment, the first blocking portion includes two blocking surfaces, the two blocking surfaces are disposed at intervals and located on an arc line taking an output shaft of the first motor as an axis, and the arc line is a movement track line when the first matching portion moves relative to the two blocking surfaces. In one embodiment, the first limiting structure comprises a limiting member, the limiting member is provided with or forms the first blocking part, the limiting member is arranged on the first motor, and the position of the limiting member on the first motor is adjustable in the rotating direction of the first motor relative to the second motor, or The first limiting structur