CN114310858A

CN114310858A - Agile robot

Info

Publication number: CN114310858A
Application number: CN202111584508.7A
Authority: CN
Inventors: 李贤举
Original assignee: Agricultural Bank of China Shandong Branch
Current assignee: Agricultural Bank of China Shandong Branch
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2022-04-12

Abstract

The application discloses agile robot includes: a trunk, lower limbs, a head, and upper limbs; the body part is internally provided with a processing unit, an energy unit, a gas control unit and a liquid control unit; the lower limb part is hinged with the trunk part, is connected with the gas control unit through a gas pipeline and is connected with the liquid control unit through a liquid pipeline; the head part is hinged with the trunk part, is connected with the gas control unit through a gas pipeline and is connected with the liquid control unit through a liquid pipeline; the upper limb part is hinged with the trunk part through the shoulder rotating part, the surface of the shoulder rotating part is wound with a pull wire, and the pull wire is wrapped with a muscle element; the muscle component is connected with gas control unit and liquid control unit to through the deformation of gas and/or liquid control muscle component, and then drive through the muscle component the deformation of acting as go-between, rotate in order to realize driving shoulder rotating part through acting as go-between. The action flexibility of the robot is guaranteed, and the user experience is greatly improved.

Description

Agile robot

Technical Field

The application relates to the technical field of intelligent robots, in particular to an agile robot.

Background

The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous and heavy work, helps the human beings to improve the working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

Traditional robots generally employ a combination of motors, joints, and sensors to accomplish certain limb movements. However, the conventional robot has a single action, a dull action and an excessive mechanical feeling.

Disclosure of Invention

In order to solve the above problem, the present application proposes an agile robot comprising: a trunk, lower limbs, a head, and upper limbs; a processing unit, an energy unit, a gas control unit and a liquid control unit are arranged in the trunk part; the processing unit is used for receiving and/or generating a control instruction so as to control the action of the gas control unit and/or the liquid control unit through the control instruction; the energy unit is connected with the processing unit, the gas control unit and the liquid control unit and is used for providing electric energy for the processing unit, the gas control unit and the liquid control unit; the gas control unit is used for injecting or sucking gas into or out of the lower limb, the upper limb and the head part through gas pipelines, and the liquid control unit is used for injecting or sucking liquid into or out of the lower limb, the upper limb and the head part through liquid pipelines; the lower limb part is hinged with the trunk part, is connected with the gas control unit through the gas pipeline and is connected with the liquid control unit through the liquid pipeline; the head part is hinged with the body part and is connected with the gas control unit through the gas pipeline and is connected with the liquid control unit through the liquid pipeline; the upper limb part is hinged with the trunk part through a shoulder rotating part, the surface of the shoulder rotating part is wound with a pull wire, and the pull wire is wrapped with a muscle element; the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, injects and/or sucks gas and/or liquid for the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and then drives the deformation of the stay wire through the muscle element so as to realize that the shoulder rotating part is driven to rotate through the stay wire.

In one example, the upper limb comprises: upper arm, lower arm, hand; the upper arm part is hinged with the trunk part through the shoulder rotating part; the small arm part is hinged with the upper arm part through an elbow rotating part; the hand part is hinged with the small arm part through the wrist rotating part; the upper arm portion includes: a first, second, third skeleton member; a first end of said first skeletal member being hingedly connected to said shoulder pivot and a second end of said first skeletal member being hingedly connected to a first end of said third skeletal member; said second bone member having a first end hingedly connected to said shoulder pivot and a second end hingedly connected to said third bone member; two pull wires are arranged between the first skeleton piece and the second skeleton piece in a crossed mode, and the muscle elements are wrapped on the two pull wires; the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, injects and/or sucks gas and/or liquid into and/or out of the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and then drives the deformation of the two pull wires through the muscle element, so that the first skeleton piece, the second skeleton piece and the third skeleton piece are driven to move through the two pull wires.

In one example, the upper limb further comprises: a first limiting piece, a second limiting piece and a third limiting piece; the first end of the first limiting piece is hinged with the first end of the third skeleton piece, and the second end of the first limiting piece is hinged with the elbow rotating part; the first end of the second limiting piece is hinged with the second end of the third skeleton piece, and the second end of the second limiting piece is hinged with the elbow rotating part; the first end of the third locating part is hinged to the elbow rotating part, and the second end of the third locating part is hinged to the small arm part.

In one example, the small arm portion includes: a fourth skeletal member, a fifth skeletal member; a first end of said fourth skeletal member being hingedly connected to said elbow; a second end of said fourth skeletal member being hingedly connected to said wrist rotation portion; a first end of the fifth skeleton member is hinged to a second end of the third limiting member, and a second end of the fifth skeleton member is hinged to the wrist rotating portion; the pull wire is arranged between the first end of the first limiting part and the fourth skeleton part, and the muscle element is wrapped on the pull wire; the pull wire is arranged between the first end of the second limiting part and the second end of the third limiting part, and the muscle element is wrapped on the pull wire; the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, and is used for injecting and/or sucking gas and/or liquid into and/or out of the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and further drive the deformation of the stay wire through the muscle element, so that the fourth skeleton element and the fifth skeleton element are driven to rotate along the elbow rotating part through the stay wire.

In one example, two pull wires are arranged between the fourth skeleton member and the fifth skeleton member in a crossed manner, and the muscle elements are wrapped on the two pull wires; one end of one of the two pull wires is connected with the wrist rotating part, and the other end of the pull wire is connected with the fourth skeleton member; one end of the other of the two pull wires is connected with the wrist rotating part, and the other end of the other pull wire is connected with the fifth skeleton member; the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, injects and/or sucks gas and/or liquid for the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and then drives the deformation of the two pull wires through the muscle element, so that the fourth skeleton member and the fifth skeleton member are driven to move through the two pull wires, and the wrist rotating part is driven to rotate.

In one example, the hand includes: thumb, index finger, middle finger, ring finger, little finger; the thumb part, the index finger part, the middle finger part, the ring finger part and the little finger part respectively comprise a plurality of skeleton parts, pull wires are arranged among the skeleton parts, and the muscle elements are wrapped on the pull wires; the muscle component passes through gas conduit with the gas control unit is connected, and passes through liquid conduit with the liquid control unit is connected, through the gas control unit and/or the liquid control unit is the muscle component injects into and/or suction gas and/or liquid to through gas and/or liquid control the deformation of muscle component, and then pass through the muscle component drives the deformation of acting as go-between, in order to realize through act as go-between drive thumb portion, index finger portion, well finger portion, ring finger portion and the deformation of little finger portion.

In one example, the muscle element comprises: the elastic bag, the elastic expansion bag and the limit ring; the elastic expansion bag is wrapped by the elastic bag, and two ends of the elastic expansion bag are fixedly connected with the interior of the elastic bag; the limiting ring is arranged at the cross section of the elastic expansion capsule in a surrounding manner and used for limiting the transverse deformation of the elastic expansion capsule; a first hole site is arranged on the elastic expansion bag, penetrates through the elastic bag and is used for supporting gas to pass through; a second hole site is arranged on the elastic expansion bag, penetrates through the elastic bag and is used for supporting liquid to pass through; the middle part of the elastic expansion bag is provided with a hollow part for supporting the stay wire to pass through; the top end of the elastic bag is provided with a connecting part for connecting the pull wire.

In one example, the head includes: an interaction unit; the interaction unit includes: the head-mounted display device comprises a touch display screen, a loudspeaker and a microphone, wherein the touch display screen is arranged on the head and used for acquiring user instructions and display information, the loudspeaker is used for broadcasting information, and the microphone is used for acquiring sound information; the interaction unit is connected with the processing unit and used for sending the user instruction and the sound information to the processing unit; the processing unit is used for generating feedback information according to the user instruction and/or the sound information and displaying the feedback information through the touch display screen and/or the loudspeaker.

In one example, the head further comprises: the expression unit comprises a silica gel piece coated on the cheek position of the head; a pull wire is arranged in the silica gel piece, and a muscle element is wrapped on the pull wire; the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, and is used for injecting and/or sucking gas and/or liquid into and/or out of the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and further drive the deformation of the stay wire through the muscle element, so that the deformation of the silica gel piece is driven through the stay wire, and corresponding expressions are made.

In one example, a pop-up roller is disposed on the lower limb; the pop-up roller is connected with the processing unit and the energy unit and used for determining whether to pop up or not and rotating at a corresponding speed according to the instruction sent by the processing unit and the electric energy provided by the energy unit.

Through the agile robot that this application provided can bring following beneficial effect: the action flexibility of the robot is guaranteed, meanwhile, the rich expression change of the intelligent robot can be realized, the user experience is greatly improved, and the situation that the user experience is not good due to the fact that the intelligent robot feels too heavy mechanically is avoided.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic block diagram of an agile robot according to an embodiment of the present application;

fig. 2 is a schematic upper limb diagram of an agile robot according to an embodiment of the present application;

fig. 3 is a schematic diagram of a muscle element of an agile robot according to an embodiment of the present application.

Description of the drawings:

10-trunk, 11-treatment unit, 12-energy unit, 13-gas control unit, 14-liquid control unit, 20-lower limb, 30-head, 40-upper limb, 41-shoulder rotation, 42-guy wire, 43-muscle element, 431-elastic bladder, 432-elastic expansion bladder, 433-stop ring, 434-first hole site, 435-second hole site, 436-junction, 44-upper arm, 441-first skeleton, 442-second skeleton, 443-third skeleton, 444-first stop, 445-second stop, 446-third stop, 45-forearm, 451-fourth skeleton, 452-fifth skeleton, 46-hand, 47-elbow rotation, 48-wrist rotation.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In addition, in the description of the present application, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; the connection can be mechanical connection, electrical connection or communication; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.

As shown in fig. 1, the present application provides an agile robot comprising: trunk portion 10, lower limbs 20, head portion 30, and upper limbs 40.

The body 10 is provided with a processing unit 11, an energy unit 12, a gas control unit 13, and a liquid control unit 14.

The processing unit 11 may include a processor with corresponding computing power, a memory, and a communicator, and may be configured to support receiving and/or generating control instructions to control the actions of the gas control unit 13 and/or the liquid control unit 14 according to the control instructions, and the actions may include: the gas control unit 13 outputs a specified pressure and volume of gas or recovers a specified pressure and volume of gas; the liquid control unit 14 outputs a specified volume of liquid or recovers a specified volume of liquid.

The energy unit 12 may contain batteries and circuitry for connecting to other units or modules. The energy unit 12 is connected to the processing unit 11, the gas control unit 13 and the liquid control unit 14, and is configured to provide electric energy to the processing unit 11, the gas control unit 13 and the liquid control unit 14.

The gas control unit 13 is used to inject or suck gas into the lower limb 20 and the upper limb 40 and the head 30 through the gas lines. It should be noted that, in order to achieve the above functions, the gas control unit 13 may include a gas bag, a certain volume of gas, a recovery bag for recovering the gas, and a gas pump for providing power to inject or suck the gas.

The fluid control unit 14 is used to inject or aspirate fluid into or out of the lower limb 20 and the upper limb 40 and head 30 via the fluid lines. It should be noted that, in order to achieve the above functions, the liquid control unit 14 may include a liquid bag, a certain volume of liquid, a recovery bag for recovering the liquid, and a liquid pump for providing power to inject or suck the liquid.

The lower limb 20 is hinged to the trunk 10 and is connected to the gas control unit 13 via a gas line and to the liquid control unit 14 via a liquid line.

The head portion 30 is hinged to the trunk portion 10 and is connected to the gas control unit 13 through a gas line and to the liquid control unit 14 through a liquid line.

Since the upper limb 40 includes two arms, in the embodiment of the present application, one of the arms is taken as an example for explanation. As shown in fig. 2, the upper limb 40 is hinged to the trunk 10 through a shoulder rotating part 41, and a pull wire 42 is wound around the surface of the shoulder rotating part 41 and wrapped with a muscle element 43.

The muscle element 43 is connected to the gas control unit 13 via a gas line and to the liquid control unit 14 via a liquid line.

The muscle element 43 injects and/or sucks gas and/or liquid into and/or out of the muscle element through the gas control unit 13 and/or the liquid control unit 14, so as to control the deformation of the muscle element 43 through the gas and/or the liquid, and further drive the deformation of the stay wire 42 through the muscle element 43, so as to drive the shoulder rotating part 41 to rotate through the stay wire.

It should be noted that the pull wire 42 herein may be a nylon wire with a certain strength, the muscle element 43 is coated on the pull wire 42 to realize a fixed connection with the pull wire 42, and meanwhile, the muscle element 43 may be fixed at a certain specific position, and the deformation and contraction of the muscle element 43 drives the deformation and contraction of the pull wire 42, and further the rotation of the shoulder rotating portion 41 is pulled by the pull wire 42. The shoulder rotating part is a component with certain rotating capacity, and a bearing can be arranged in the shoulder rotating part to support rotation. It should be noted that, in order to ensure the proper deformation of the pulling wire 42, the number of the muscle elements 43 can be flexibly adjusted according to the actual situation, and the specific number of the muscle elements 43 disposed on the pulling wire 42 is not specifically limited herein.

In one embodiment, as shown in fig. 2, upper limb 40 comprises: upper arm 44, lower arm 45, hand 46, elbow turn 47, wrist turn 48.

The upper arm portion 44 is hinged to the trunk portion 10 via the shoulder pivot portion 41, the lower arm portion 45 is hinged to the upper arm portion 44 via the elbow pivot portion 47, and the hand portion 46 is hinged to the lower arm portion 45 via the wrist pivot portion 48.

The upper arm portion 44 includes: a first skeleton member 441, a second skeleton member 442, and a third skeleton member 443.

Wherein a first end of the first skeleton member 441 is hinged with the shoulder rotating portion 41, and a second end of the first skeleton member 441 is hinged with a first end of the third skeleton member 443.

A first end of the second skeleton member 442 is hingedly connected to the shoulder turning portion 41 and a second end of the second skeleton member 442 is hingedly connected to a second end of the third skeleton member 443.

Two pull wires 42 are crosswise arranged between the first skeleton part 441 and the second skeleton part 443, and the muscle elements 43 are respectively wrapped on the two pull wires 42.

The muscle element 43 is connected to the gas control unit 13 via a gas line and to the liquid control unit 14 via a liquid line. The muscle element 43 injects and/or sucks gas and/or liquid into and/or out of the muscle element through the gas control unit 13 and/or the liquid control unit 14, so as to control the deformation of the muscle element 43 through the gas and/or the liquid, and further drive the deformation of the two pull wires 42 through the muscle element 43, so as to realize the movement of the first skeleton part 441, the second skeleton part 442 and the third skeleton part 443 through the two pull wires 42.

With the above-described technical solution, flexible movement of the upper arm portion 44 can be realized.

In one embodiment, as shown in fig. 2, upper limb 44 further comprises: a first position-limiting member 444, a second position-limiting member 445 and a third position-limiting member 446.

The first end of the first limiting member 444 is hinged to the first end of the third skeleton member 443, and the second end of the first limiting member 444 is hinged to the elbow rotation portion 47.

The first end of the second limiting member 445 is hinged to the second end of the third skeleton member 443, and the second end of the second limiting member 445 is hinged to the elbow rotation portion 47.

A first end of the third limiting member 446 is hinged to the elbow rotating portion 47, and a second end of the third limiting member 446 is hinged to the small arm portion 45.

In one embodiment, the small arm portion 45 includes: fourth bone element 451, fifth bone element 452.

A first end of the fourth skeletal member 451 is hinged to the elbow rotation portion 47 and a second end of the fourth skeletal member 451 is hinged to the wrist rotation portion 48.

A first end of the fifth bone element 452 is hinged to the second end of the third limiting element 446, and a second end of the fifth bone element 452 is hinged to the wrist rotation portion 48.

In addition, a pulling wire 42 is disposed between the first end of the first position-limiting member 444 and the fourth skeleton member 451, and the muscle element 43 is wrapped on the pulling wire 42.

A pulling wire 42 is arranged between the first end of the second limiting member 445 and the second end of the third limiting member 446, and the pulling wire 42 is wrapped with a muscle element 43.

The muscle element 43 is connected with the gas control unit 13 through a gas pipeline and is connected with the liquid control unit 14 through a liquid pipeline, gas and/or liquid is injected into and/or sucked out of the muscle element 43 through the gas control unit 13 and/or the liquid control unit 14, so that the deformation of the muscle element 43 is controlled through the gas and/or liquid, and the deformation of the stay wire 42 is driven through the muscle element 43, so that the fourth skeleton element 451 and the fifth skeleton element 452 are driven to rotate along the elbow rotation part 47 through the stay wire 42.

Through the technical scheme mentioned in the embodiment of the present application and the previous embodiment, the small arm part 45 can be effectively ensured to flexibly rotate along the shaft rotating part 47, and the elbow rotating part 47 can be internally provided with a bearing to support rotation.

In one embodiment, two pull wires 42 are crossed between the fourth skeleton member 451 and the fifth skeleton member 452, and the two pull wires 42 are wrapped with the muscle element 43.

One end of one of the two pull wires 42 is connected to the wrist rotation portion 48, and the other end is connected to the fourth skeleton member 451.

The other of the two pull wires 42 has one end connected to the wrist rotation portion 48 and the other end connected to the fifth skeleton member 452.

The muscle element 43 is connected with the gas control unit 13 through a gas pipeline and is connected with the liquid control unit 14 through a liquid pipeline, gas and/or liquid is injected into and/or sucked out of the muscle element 43 through the gas control unit 13 and/or the liquid control unit 14, so that the deformation of the muscle element 43 is controlled through the gas and/or the liquid, and then the deformation of the stay wires 42 is driven through the muscle element 43, so that the movement of the fourth skeleton element 451 and the fifth skeleton element 452 through the two stay wires 42 is driven, and the wrist rotating part 48 is driven to rotate.

That is, the wrist turning section 48 can turn the hand 46 along the small arm 45 in a manner to mimic the human body structure.

In one embodiment, the hand 46 includes: thumb, index finger, middle finger, ring finger, little finger.

The thumb part, the index finger part, the middle finger part, the ring finger part and the little finger part respectively comprise a plurality of skeleton parts, a pull wire 42 is arranged among the skeleton parts, and the pull wire 42 is wrapped with a muscle element 43.

It should be noted that the thumb, index finger, middle finger, ring finger and little finger here simulate the real structure of human hand, and the pull wire 42 and muscle element 43 are arranged between the skeleton members, so that the hand 46 can simulate the real human hand for flexible grasping.

It should be noted that the length of the pull wire 42 and the size of the muscle unit 43 can be flexibly modified according to the installation location to adapt to the configuration of the corresponding location.

Specifically, the muscle elements 43 are connected with the gas control unit 13 through gas pipelines and connected with the liquid control unit 14 through liquid pipelines, gas and/or liquid is injected and/or sucked into and/or out of the muscle elements 43 through the gas control unit 13 and/or the liquid control unit 14, so that the deformation of the muscle elements 43 is controlled through the gas and/or the liquid, and then the deformation of the stay wire 42 is driven through the muscle elements 43, so that the deformation of the thumb part, the index finger part, the middle finger part, the ring finger part and the little finger part is driven through the stay wire 42.

In one embodiment, as shown in fig. 3, muscle element 43 comprises: an elastic bag 431, an elastic expansion bag 432 and a limit ring 433.

The elastic balloon 432 is wrapped by the elastic balloon 431, and both ends of the elastic balloon 432 are fixedly connected to the inside of the elastic balloon 431 to prevent the elastic balloon 431 and the elastic balloon 432 from being separated.

The elastic bellows 432 and the elastic bag 431 are made of elastic rubber, and the elastic bellows 432 is hollow and can be used for injecting gas or liquid to support the deformation of the elastic bellows 432.

The limiting ring 433 is arranged around the cross section of the elastic expansion capsule 432 and used for limiting the transverse deformation of the elastic expansion capsule 432. The limiting ring 433 can be made of metal, and the elastic expansion bag 432 can be guaranteed to be deformed only in the vertical direction and not in the transverse direction through the limiting ring 433.

The elastic expansion capsule 432 is provided with a first hole 434, which passes through the elastic bag 431 for supporting the passage of gas.

The elastic expansion capsule 432 is provided with a second hole 435, which passes through the elastic bag 431 for supporting the liquid to pass through.

The middle part of the elastic expansion capsule 432 is provided with a hollow part for supporting the pull wire 42 to pass through.

The top end of the elastic bag 431 is provided with a connection part 436 for connecting the pulling wire 42.

It should be noted that the basic structure and principle of the muscle element 43 are the same as those in fig. 3, and all the muscle elements 43 used in the embodiments described in the present application are in this way, but the specific number and size of the arrangement are not limited in this regard. If a plurality of muscle members 43 are disposed on the same pull wire 42, a certain gap should be formed between the plurality of muscle members 43 to ensure the normal extension or contraction of the pull wire 42.

In one embodiment, the head 30 may include an interactive unit.

The interaction unit includes: the touch screen, speaker, microphone that set up at head 30, the touch screen is used for acquireing user's instruction and show information, and the speaker is used for broadcasting the information, and the microphone is used for acquireing sound information.

The interaction unit is connected to the processing unit 11 and is configured to send a user instruction and voice information to the processing unit 11.

The processing unit 11 is configured to generate feedback information according to a user instruction and/or sound information, and display the feedback information through the touch display screen and/or the speaker.

In one embodiment, the head 30 may also include an expression unit.

The expression unit comprises a silica gel piece covering the cheek position of the head 30, a pull wire 42 is arranged in the silica gel piece, and a muscle element 43 is wrapped on the pull wire 42.

The muscle element 43 is connected with the gas control unit 13 through a gas pipeline, is connected with the liquid control unit 14 through a liquid pipeline, injects and/or sucks gas and/or liquid into and/or out of the muscle element 43 through the gas control unit 13 and/or the liquid control unit 14 to control the deformation of the muscle element 43 through the gas and/or the liquid, and then drives the deformation of the stay wire 42 through the muscle element 43, so that the deformation of the silica gel piece is driven through the stay wire 42, and corresponding expressions are made.

In one embodiment, pop-up rollers are provided on the lower limbs 20.

The pop-up roller is connected to the processing unit 11 and the power unit 12, and is configured to determine whether to pop up and rotate at a corresponding speed according to an instruction issued by the processing unit 11 and power provided by the power unit 12.

The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the device and media embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference may be made to some descriptions of the method embodiments for relevant points.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An agile robot, comprising: a trunk, lower limbs, a head, and upper limbs;

a processing unit, an energy unit, a gas control unit and a liquid control unit are arranged in the trunk part; the processing unit is used for receiving and/or generating a control instruction so as to control the action of the gas control unit and/or the liquid control unit through the control instruction; the energy unit is connected with the processing unit, the gas control unit and the liquid control unit and is used for providing electric energy for the processing unit, the gas control unit and the liquid control unit; the gas control unit is used for injecting or sucking gas into or out of the lower limb, the upper limb and the head part through gas pipelines, and the liquid control unit is used for injecting or sucking liquid into or out of the lower limb, the upper limb and the head part through liquid pipelines;

the lower limb part is hinged with the trunk part, is connected with the gas control unit through the gas pipeline and is connected with the liquid control unit through the liquid pipeline; the head part is hinged with the body part and is connected with the gas control unit through the gas pipeline and is connected with the liquid control unit through the liquid pipeline;

the upper limb part is hinged with the trunk part through a shoulder rotating part, the surface of the shoulder rotating part is wound with a pull wire, and the pull wire is wrapped with a muscle element;

the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, injects and/or sucks gas and/or liquid for the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and then drives the deformation of the stay wire through the muscle element so as to realize that the shoulder rotating part is driven to rotate through the stay wire.

2. An agile robot according to claim 1, wherein said upper limb comprises: upper arm, lower arm, hand;

the upper arm part is hinged with the trunk part through the shoulder rotating part; the small arm part is hinged with the upper arm part through an elbow rotating part; the hand part is hinged with the small arm part through the wrist rotating part;

the upper arm portion includes: a first, second, third skeleton member; a first end of said first skeletal member being hingedly connected to said shoulder pivot and a second end of said first skeletal member being hingedly connected to a first end of said third skeletal member; said second bone member having a first end hingedly connected to said shoulder pivot and a second end hingedly connected to said third bone member;

two pull wires are arranged between the first skeleton piece and the second skeleton piece in a crossed mode, and the muscle elements are wrapped on the two pull wires;

the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, injects and/or sucks gas and/or liquid into and/or out of the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and then drives the deformation of the two pull wires through the muscle element, so that the first skeleton piece, the second skeleton piece and the third skeleton piece are driven to move through the two pull wires.

3. An agile robot according to claim 2, wherein said upper limb further comprises: a first limiting piece, a second limiting piece and a third limiting piece;

the first end of the first limiting piece is hinged with the first end of the third skeleton piece, and the second end of the first limiting piece is hinged with the elbow rotating part;

the first end of the second limiting piece is hinged with the second end of the third skeleton piece, and the second end of the second limiting piece is hinged with the elbow rotating part;

the first end of the third locating part is hinged to the elbow rotating part, and the second end of the third locating part is hinged to the small arm part.

4. An agile robot according to claim 3 wherein said small arm portion comprises: a fourth skeletal member, a fifth skeletal member;

a first end of said fourth skeletal member being hingedly connected to said elbow; a second end of said fourth skeletal member being hingedly connected to said wrist rotation portion;

a first end of the fifth skeleton member is hinged to a second end of the third limiting member, and a second end of the fifth skeleton member is hinged to the wrist rotating portion;

the pull wire is arranged between the first end of the first limiting part and the fourth skeleton part, and the muscle element is wrapped on the pull wire; the pull wire is arranged between the first end of the second limiting part and the second end of the third limiting part, and the muscle element is wrapped on the pull wire;

the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, and is used for injecting and/or sucking gas and/or liquid into and/or out of the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and further drive the deformation of the stay wire through the muscle element, so that the fourth skeleton element and the fifth skeleton element are driven to rotate along the elbow rotating part through the stay wire.

5. An agile robot according to claim 4 wherein two said pull wires are provided across said fourth skeleton and said fifth skeleton, said muscle elements being wrapped around said two said pull wires;

one end of one of the two pull wires is connected with the wrist rotating part, and the other end of the pull wire is connected with the fourth skeleton member; one end of the other of the two pull wires is connected with the wrist rotating part, and the other end of the other pull wire is connected with the fifth skeleton member;

the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, injects and/or sucks gas and/or liquid for the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and then drives the deformation of the two pull wires through the muscle element, so that the fourth skeleton member and the fifth skeleton member are driven to move through the two pull wires, and the wrist rotating part is driven to rotate.

6. An agile robot according to claim 5, wherein said hand portion comprises: thumb, index finger, middle finger, ring finger, little finger;

the thumb part, the index finger part, the middle finger part, the ring finger part and the little finger part respectively comprise a plurality of skeleton parts, pull wires are arranged among the skeleton parts, and the muscle elements are wrapped on the pull wires;

the muscle component passes through gas conduit with the gas control unit is connected, and passes through liquid conduit with the liquid control unit is connected, through the gas control unit and/or the liquid control unit is the muscle component injects into and/or suction gas and/or liquid to through gas and/or liquid control the deformation of muscle component, and then pass through the muscle component drives the deformation of acting as go-between, in order to realize through act as go-between drive thumb portion, index finger portion, well finger portion, ring finger portion and the deformation of little finger portion.

7. An agile robot according to claim 6, wherein said muscle element comprises: the elastic bag, the elastic expansion bag and the limit ring;

the elastic expansion bag is wrapped by the elastic bag, and two ends of the elastic expansion bag are fixedly connected with the interior of the elastic bag;

the limiting ring is arranged at the cross section of the elastic expansion capsule in a surrounding manner and used for limiting the transverse deformation of the elastic expansion capsule;

a first hole site is arranged on the elastic expansion bag, penetrates through the elastic bag and is used for supporting gas to pass through;

a second hole site is arranged on the elastic expansion bag, penetrates through the elastic bag and is used for supporting liquid to pass through;

the middle part of the elastic expansion bag is provided with a hollow part for supporting the stay wire to pass through;

the top end of the elastic bag is provided with a connecting part for connecting the pull wire.

8. An agile robot according to claim 1, wherein the head comprises: an interaction unit;

the interaction unit includes: the head-mounted display device comprises a touch display screen, a loudspeaker and a microphone, wherein the touch display screen is arranged on the head and used for acquiring user instructions and display information, the loudspeaker is used for broadcasting information, and the microphone is used for acquiring sound information;

the interaction unit is connected with the processing unit and used for sending the user instruction and the sound information to the processing unit;

the processing unit is used for generating feedback information according to the user instruction and/or the sound information and displaying the feedback information through the touch display screen and/or the loudspeaker.

9. An agile robot according to claim 1 wherein said head further comprises: the expression unit comprises a silica gel piece coated on the cheek position of the head;

a pull wire is arranged in the silica gel piece, and a muscle element is wrapped on the pull wire;

the muscle element is connected with the gas control unit through the gas pipeline, is connected with the liquid control unit through the liquid pipeline, and is used for injecting and/or sucking gas and/or liquid into and/or out of the muscle element through the gas control unit and/or the liquid control unit so as to control the deformation of the muscle element through the gas and/or the liquid, and further drive the deformation of the stay wire through the muscle element, so that the deformation of the silica gel piece is driven through the stay wire, and corresponding expressions are made.

10. An agile robot according to claim 1, wherein said lower limb is provided with pop-up rollers;

the pop-up roller is connected with the processing unit and the energy unit and used for determining whether to pop up or not and rotating at a corresponding speed according to the instruction sent by the processing unit and the electric energy provided by the energy unit.