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Joint drive mechanism and robot

A driving mechanism and joint technology, applied in the field of intelligent machines, can solve the problems of low center of mass of the robot's legs and high requirements for the driving force of the leg joints, and achieve the effect of increasing the center of mass and reducing the driving force

Active Publication Date: 2021-12-31
UBTECH ROBOTICS CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The purpose of the embodiments of the present invention is to provide a joint drive mechanism and a robot to solve the problem in the prior art that the drive joints of the hips are arranged at the thigh members, resulting in a low center of mass of the legs of the robot and relatively low requirements for the drive force of the leg joints. high technical issues

Method used

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  • Joint drive mechanism and robot
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  • Joint drive mechanism and robot

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Embodiment Construction

[0024] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0025] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0026] It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "right", "vertical", "horizontal", "top" , "bottom", "inner", "outer" and other indicated orientations...

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Abstract

The present invention provides a joint driving mechanism and a robot. The joint driving mechanism includes a U-shaped connector, a steering gear frame rotatably connected to the U-shaped connector, and a joint steering gear fixed in the steering gear frame. The steering gear frame is arranged in the U-shaped space surrounded by the U-shaped connector, and the two ends of the steering gear frame are erected between two opposite side walls of the U-shaped connector, and the steering gear frame The rotation axis is set at an included angle with the axis of the rotation output shaft of the joint steering gear. In the joint drive mechanism and the robot provided by the present invention, the rotation axis of the steering gear frame and the axis of the rotation output shaft of the joint steering gear are set at an angle, so that the two degrees of freedom of the joint can be integrated at the U-shaped connector without the need to The driving device is arranged on the thigh member, which can increase the center of mass of the leg structure of the robot and reduce the driving force required by the leg joints.

Description

technical field [0001] The invention belongs to the technical field of intelligent machines, and more specifically relates to a joint driving mechanism and a robot. Background technique [0002] In the field of robotics, especially in the gait field of humanoid biped robots, the weight distribution of the legs is an important indicator that affects the performance of the robot. Due to the traditional arrangement of the drive joints of biped robots currently on the market, for example, the drive joints of the hip are usually placed at the thigh structure, and then transmitted to the robot hip through connecting rods or timing belts. Such a design makes the weight of the legs generally large, resulting in a generally low height of the center of mass from the ground, and the moment of inertia of the leg structure is generally large, which will increase the requirements for the driving force of the leg joints. The increase of the driving force will also increase the weight of t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 李康李海雷赵明国董浩
Owner UBTECH ROBOTICS CORP LTD
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