Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Humanoid robot trunk structure

A humanoid robot and torso technology, applied in manipulators, joints, manufacturing tools, etc., can solve problems such as complex structures of highly redundant joints, and achieve the effects of no complex components, simple structure, and diverse motion postures

Inactive Publication Date: 2017-02-01
HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI +1
View PDF7 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in terms of torso research, although the human spine has many advantages such as strong load capacity, high flexibility, and large work space, due to the complex structure of highly redundant joints, there has been no relevant literature report on effective bionic design for it.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Humanoid robot trunk structure
  • Humanoid robot trunk structure
  • Humanoid robot trunk structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0023] Such as figure 1 and figure 2 As shown, the torso structure of the humanoid robot in this embodiment has six subunits and a waist unit, and the six subunits are respectively the first subunit 9, the second subunit 10, the third subunit 11, and the fourth subunit 12. The fifth subunit 13 and the sixth subunit 14 as the final stage, the waist unit 15 is a waist rotation unit. In order to make the movement characteristics of the whole torso structure stable, each sub-unit is set as a cylindrical shell with a height of 111mm and a diameter of 100mm. The top and bottom surfaces of the cylindrical shell are set as symmetrical slopes. The inclined plane refers to the symmetrical plane with the horizontal plane as the center of symmetry, and the inclined plane is 8.5° from the horizontal plane. This structural form makes the cylindrical shell in the symmetrical two sides, one side is the short side, and the other side is the long side. side.

[0024] Motors, encoders and dr...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a humanoid robot trunk structure. The humanoid robot trunk structure is characterized in that the trunk structure is formed by connecting subunits in series; each subunit is provided with a cylindrical shell, the top face and the bottom face of each cylindrical shell are symmetrical slopes, and as for the two symmetrical side edges of each cylindrical shell, one side edge is short while the other side edge is long; a motor, an encoder and a driver are arranged in the cylindrical shell of each subunit; as for series connection of the subunits, the bottom face of each upper unit and the top face of the corresponding lower unit are connected through the upper surface and the lower surface of a speed reducer; and motors arranged in the lower units can drive the cylindrical shells of the upper units to rotate through the speed reducers so that the short edges of the subunits can be located on the same side and a trunk can be bent, or the short edges of every two adjacent subunits can be located on different sides and the trunk can be upright. The humanoid robot trunk structure is simple in structure, easy to control and good in bearing capacity, and can achieve three kinds of typical postures including leftward and rightward lateral swinging, forward and backward pitching and waist rotation like the trunk of a human being.

Description

technical field [0001] The invention relates to a torso structure of a humanoid robot, more specifically, a mechanism designed for the humanoid robot to realize three typical postures of a human torso: left and right side swing, front and rear pitch, and waist rotation. Background technique [0002] A humanoid robot consists of a head, limbs and torso. The upper limbs can grasp and operate, the lower limbs can walk, and the torso has the functions of supporting the body and coordinating the limbs, which is very important for the robot to achieve good mechanical and motion performance. . Taking humans as the source of inspiration for bionic design, researchers around the world have carried out a lot of research on the bionic design of robot limbs. However, in terms of torso research, although the human spine has many advantages such as strong load capacity, high flexibility, and large work space, due to the complex structure of highly redundant joints, there has been no rele...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J17/02
CPCB25J11/00B25J17/0258
Inventor 李涛张晴晴贺军姚鹏徐林森赵江海
Owner HEFEI INSTITUTES OF PHYSICAL SCIENCE - CHINESE ACAD OF SCI
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com