Pitching transferring integrated waist structure of human-like robot

Abstract

The invention relates to a waist structure of robot whose pitching and turning motions are integrated, belonging to the robot technique. Wherein, the angle contact ball bearing is inside the end cover, to be fixed via binding ring and end cover axle; the left part of thorax plate and the left part of connecting plate are connected by the end cover axle; the stable wheel of second harmonic reducer is connected to the right part of connecting plate; the movable wheel of second harmonic reducer is connected to the right upright plate of thorax plate; the input axle sleeve of second harmonic reducer is sheathed on the output axle of pitching driving motor; the stable wheel of first harmonic reducer is fixed to the cover plate of abdominal cavity; the movable wheel of first harmonic reducer is connected to the connecting plate; the input axle of first harmonic reducer is sheathed on the output axle of transfer driving motor. The invention uses integrated structure, while the pitching driving motor and the transfer driving motor are serially connected to themselves harmonic reducers coaxially, with large motion range. Said waist structure can meet the pitching and transfer demands in wide range.

Description

technical field [0001] The invention relates to a waist structure in the technical field of robots, in particular, a waist structure integrating pitching and turning of a humanoid robot. Background technique [0002] Most of the existing structures involving the waist of humanoid robots use motors with encoders and harmonic reducers in conjunction with driving devices, such as HRP-2 in Japan, HUBO in South Korea, etc., will drive motors, harmonic reducers, encoders, etc. The controller, power supply, etc. are reasonably placed in a compact space, while meeting the required power requirements and range of motion, so that the humanoid robot has the best flexibility and anthropomorphism. The lumbar joint is an important joint connecting the upper and lower body of the humanoid robot. Because of the weight of the upper body, it is difficult to realize and control its motion. In the actual robot production, the degree of freedom is generally not used (such as the KHR-1 of Jinto,...

AI Technical Summary

Problems solved by technology

[0003] After searching the existing technical literature, it is found that the Chinese patent publication number is CN1454752, and the title of the invention is: a waist structure of a humanoid robot. This technology discloses a waist structure of a humanoid robot that is driven by two differential gear trains. , has two degrees of freedom, but due to the complex structure of the differential gear train, it has caused difficulties in the control of the humanoid robot itself, and at the same time, the pitch angle range of this invention is far from being comparable to the range of motion of the human waist

Images