CN210361383U - Two-degree-of-freedom hip joint of anthropomorphic robot and anthropomorphic robot - Google Patents
Two-degree-of-freedom hip joint of anthropomorphic robot and anthropomorphic robot Download PDFInfo
- Publication number
- CN210361383U CN210361383U CN201921110341.9U CN201921110341U CN210361383U CN 210361383 U CN210361383 U CN 210361383U CN 201921110341 U CN201921110341 U CN 201921110341U CN 210361383 U CN210361383 U CN 210361383U
- Authority
- CN
- China
- Prior art keywords
- hip joint
- gear
- freedom
- degree
- small
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a two-degree-of-freedom hip joint of an anthropomorphic robot, which comprises a hip joint ball, wherein the hip joint ball is fixedly connected with a hip joint X-direction end big gear of a hip joint straight gear group along an X axis, and the input end of the hip joint straight gear group is connected with an X axis driving motor; the hip joint ball is fixedly connected with a Y-axis driving motor; an output shaft of the Y-axis driving motor is connected with a planet wheel speed reducing mechanism through a bevel gear pair, and a tail end connecting flange of the planet wheel speed reducing mechanism is used as a Y-direction output end of the two-degree-of-freedom hip joint. The utility model has two rotational degrees of freedom, the X-axis rotation is the father-level degree of freedom, the Y-axis rotation is the son-level degree of freedom, namely, the hip joint is moved to lift the legs back and forth, and then the thigh is driven to rotate; the sequence of the two degrees of freedom enables only the sequence to be considered during later stage forward and backward motion calculation without additionally increasing displacement, and can improve the calculation efficiency. The utility model also discloses an anthropomorphic robot with this two degree of freedom hip joint.
Description
Technical Field
The utility model relates to a part of an anthropomorphic robot, in particular to a two-degree-of-freedom hip joint of the anthropomorphic robot. The utility model also relates to an anthropomorphic robot with the two-degree-of-freedom hip joint.
Background
With the rapid development of technology, anthropomorphic robots represent the highest level in the field of robotics. Because the anthropomorphic robot can imitate the action of human beings, the anthropomorphic robot can really replace human beings to finish various works, such as working in high-risk and high-temperature working environments, so as to thoroughly change the working and life modes of the human beings.
In order to make a humanoid robot perform human actions, the humanoid robot is required to have joints as flexible as a human. The major joints of the human body include hip joint, shoulder joint, elbow joint, knee joint, ankle joint, etc. The main task of the robot joint is to perform a rotation motion, including, for example, a rotation around the X-axis direction, a rotation around the Y-axis direction, and a rotation around the Z-axis direction. The rotation action of the joint of the existing robot is generally completed by adopting a steering engine, and the steering engine has the advantage of high control precision but only has one degree of freedom. Each joint of a human body has at least two degrees of freedom, so that two or even three steering engines are required to be used at the same joint, the number of the steering engines is increased because the steering engines are independent of the body skeleton of the robot, the length of the joint is inevitably increased, and the rigidity of the body is deteriorated accordingly. In order to keep the stability of the body of the robot, the power of the steering engine can only be increased, the size of the steering engine is increased, the joints are further longer, and the rigidity of the body is poorer.
Therefore, the anthropomorphic robot adopting the steering engine can only be used as a toy, and cannot really finish the action of human and replace the human to work.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is to provide a two-degree-of-freedom hip joint of anthropomorphic robot, which can realize the rotation of two degrees of freedom and the rotation axes of the two degrees of freedom intersect at one point.
In order to solve the technical problem, the two-degree-of-freedom hip joint of the anthropomorphic robot of the utility model adopts the technical proposal that:
the hip joint ball 6-1 is fixedly connected with a hip joint X-direction tail end large gear 6-5-4 of a hip joint straight gear set 6-5 along an X axis, and the input end of the hip joint straight gear set 6-5 is connected with an X axis driving motor 6-7; an X-axis driving motor 6-7 drives a hip joint ball 6-1 to rotate around an X axis through a hip joint straight gear set 6-5, so that the two-degree-of-freedom hip joint realizes the degree of freedom of rotation around the X axis; the hip joint ball 6-1 is fixedly connected with a Y-axis driving motor 6-8; an output shaft of the Y-axis driving motor 6-8 is connected with a planet wheel speed reducing mechanism 6-4 through a bevel gear pair, and the tail end of the planet wheel speed reducing mechanism 6-4 is connected with a flange 6-4-8 serving as a Y-direction output end of the two-degree-of-freedom hip joint; and the Y-axis driving motor 6-8 drives the tail end connecting flange 6-4-8 of the planet wheel speed reducing mechanism 6-4 to rotate around the Y axis through a bevel gear pair, so that the two-degree-of-freedom hip joint realizes the degree of freedom of rotation around the Y axis.
In another embodiment, the hip ball 6-1 is fixedly connected with the core sleeve 6-9 along the X direction; the tail end of the core sleeve 6-9 is provided with a sliding sheet; the tail end of the core sleeve 6-9 is connected with a core sleeve sliding pin 6-12 through a sliding sheet; the core sleeve sliding pins 6-12 are fixedly arranged; and the sliding sheets of the core sleeves 6-9 and the sliding grooves of the core sleeve sliding pins 6-12 are respectively provided with a circumferential movement limiting block.
In another embodiment, the sliding pieces of the core barrel 6-9 are matched with the sliding grooves of the core barrel sliding pins 6-12, so that the sliding pieces of the core barrel 6-9 can move circumferentially relative to the sliding grooves of the core barrel sliding pins 6-12.
In another embodiment, the tail end of the core sleeve 6-9 is fixedly provided with an X-axis magnet 6-11; the core sleeve sliding pin 6-12 is fixedly provided with an X-axis Hall sensor 6-13, and the X-axis Hall sensor 6-13 corresponds to the X-axis magnet 6-11.
In another embodiment, the hip joint spur gear set 6-5 comprises a hip joint X-direction first-stage duplex tooth 6-5-1, a hip joint X-direction second-stage duplex tooth 6-5-2, a hip joint X-direction third-stage duplex tooth 6-5-3 and a hip joint X-direction tail end gearwheel 6-5-4 which are meshed in sequence; the output shaft of the X-axis driving motor 6-7 is fixedly connected with a small straight gear, and the small straight gear, the first-stage duplex teeth 6-5-1 in the X direction of the hip joint, the second-stage duplex teeth 6-5-2 in the X direction of the hip joint, the third-stage duplex teeth 6-5-3 in the X direction of the hip joint and the big gear 6-5-4 at the tail end in the X direction of the hip joint form a group of speed-reducing and torque-increasing gear sets.
In another embodiment, an output shaft of the Y-axis driving motor 6-8 is fixedly connected with a bevel gear, and the bevel gear and a bevel gear of the bevel gear duplex teeth 6-4-1 form a group of 90-degree reversing bevel gear sets; a straight gear of the bevel gear duplex teeth 6-4-1 is meshed with a large gear of the first-stage sun gear duplex teeth 6-4-2, and a small gear of the first-stage sun gear duplex teeth 6-4-2 is simultaneously and externally meshed with a plurality of small planetary gears of the first planetary gear set 6-4-4; a plurality of small planet wheels of the first planet wheel set 6-4-4 are arranged on the first planet wheel carrier 6-4-3; a plurality of small planet wheels of the first planet wheel set 6-4-4 are simultaneously internally meshed with the inner gear ring 6-4-5; the inner gear ring 6-4-5 is internally meshed with a plurality of small planet wheels of the first planet wheel set 6-4-4 and also internally meshed with a plurality of small planet wheels of the second planet wheel set 6-4-10, and the plurality of small planet wheels of the second planet wheel set 6-4-10 are arranged on the second planet wheel carrier 6-4-9; a plurality of small planet wheels of the second planet wheel set 6-4-10 are simultaneously externally meshed with the pinion of the secondary sun wheel cover 6-4-6; the first planet wheel bracket 6-4-3 is fixedly arranged in a wheel cover of the second-stage sun wheel cover 6-4-6; a plurality of small planet wheels of the second planetary wheel set 6-4-10 are simultaneously externally meshed with the pinion of the end connecting flange 6-4-8.
In another embodiment, the hip joint spur gear set 6-5 is disposed within a hip joint gearbox housing 6-3; the hip joint gearbox shell 6-3 is fixedly connected with a motor bracket 6-10 along the X direction; the X-axis driving motor 6-7 and the Y-axis driving motor 6-8 are fixedly connected with a motor bracket 6-10; the hip joint gear box shell 6-3 is sleeved on the hip joint ball 6-1 in an empty way.
The utility model also provides an anthropomorphic robot with this two degree of freedom hip joint, its technical solution does:
comprises a trunk framework 1, a waist 2, a right leg 3 and a left leg 4; the waist 2 is connected with the trunk framework 1 upwards through a waist rotating platform 5, and the left side and the right side of the waist 2 are respectively connected with the left leg 3 and the right leg 4 through the two-degree-of-freedom hip joint.
The utility model discloses the technological effect that can reach is:
the two-freedom hip joint of the utility model has two rotational degrees of freedom, namely X-axis rotational degree of freedom and Y-axis rotational degree of freedom, and the X-axis rotational degree of freedom and the rotating shaft of the Y-axis rotational degree of freedom are intersected at one point; the X-axis driving motor drives the hip joint ball to rotate around the X axis through the hip joint straight gear set; the Y-axis driving motor realizes vertical reversing from X-axis rotation to Y-axis rotation through a bevel gear pair, and drives the tail end connecting flange to rotate around the Y-axis through a planet wheel speed reducing mechanism; because the Y-axis driving motor is fixedly connected with the hip joint ball, the X-axis rotation is the father-level degree of freedom, the Y-axis rotation is the son-level degree of freedom, namely, the front and back leg lifting actions of the hip joint are driven, and then the thigh is driven to rotate; the sequence of the two degrees of freedom enables only the sequence to be considered during later stage forward and backward motion calculation without additionally increasing displacement, and can improve the calculation efficiency.
The utility model discloses be formed with the circumferential motion stopper on the gleitbretter of core cover and the spout of core cover sliding pin respectively, when the circumferential motion stopper of hip joint ball for the core cover sliding pin rotation to gleitbretter supports in the circumferential motion stopper of spout, because the mutual interference effect of two circumferential motion stoppers, the circumferential motion stopper of spout can prevent the rotating member to continue to rotate to the realization is spacing to maximum rotation angle's X to hip joint ball. Because the rotation angle of the hip joint of the human body cannot exceed 360 degrees, the utility model discloses can make the action of robot more approximate human action.
The utility model discloses compact structure, design installation are reasonable and can reduce the operand by a wide margin in follow-up gait algorithm.
The utility model discloses a hip joint straight-teeth gear group realizes that X is to increasing the turn round speed reduction, can turn into the high-speed big moment of torsion output of the low-speed of hip joint ball with X axle driving motor's high-speed input, and the leg is lifted from top to bottom around making the robot accomplish moves.
The utility model discloses a planet wheel reduction gears realize that Y to increase the turn round speed reduction, can turn into end-to-end flange's low-speed big moment of torsion output with Y axle driving motor's high-speed input, make the robot accomplish inside and outside leg swing action.
Drawings
It is to be understood by those skilled in the art that the following description is merely exemplary in nature and that the principles of the present invention may be applied in numerous ways to achieve many different alternative embodiments. These descriptions are only used to illustrate the general principles of the teachings of the present invention and are not meant to limit the inventive concepts disclosed herein.
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the general description given above and the detailed description of the drawings given below, serve to explain the principles of the invention.
The invention will be described in further detail with reference to the following drawings and detailed description:
FIG. 1 is a schematic view of an anthropomorphic robot of the present invention;
FIG. 2 is a schematic view of the waist of the anthropomorphic robot of the present invention;
FIG. 3 is a schematic view of the left leg of the anthropomorphic robot of the present invention;
FIG. 4 is a schematic view of the right leg of the anthropomorphic robot of the present invention;
FIG. 5 is a schematic view of the right two-degree-of-freedom hip joint of the anthropomorphic robot of the present invention;
FIG. 6 is an exploded view of the right two-degree-of-freedom hip joint of the anthropomorphic robot of the present invention;
fig. 7 is an exploded view of the hip joint spur gear set of the present invention;
fig. 8 is an exploded schematic view of the planetary gear speed reducing mechanism of the present invention.
The reference numbers in the figures illustrate:
1 is a body skeleton, 2 is a waist,
3 is a right leg, 4 is a left leg,
5 is a waist rotating platform, 6 is a right two-degree-of-freedom hip joint,
7 is a left two-degree-of-freedom hip joint, 8 is a right thigh,
9 is a right lower leg, 10 is a right ankle joint,
11 is the right sole, 12 is the left thigh,
13 is a left calf, 14 is a left ankle joint,
15 is the left sole of the foot,
6-1 is a hip joint ball, 6-2 is a joint ball cover,
6-3 is a hip joint gear box shell, 6-4 is a planet wheel speed reducing mechanism,
6-5 is a hip joint straight gear set,
6-7 are X-axis driving motors, 6-8 are Y-axis driving motors,
6-9 is a core sleeve, 6-10 is a motor bracket,
6-11 is an X-axis magnet, 6-12 is a core sleeve sliding pin,
6-13 are X-axis Hall sensors,
6-4-1 is a bevel gear duplex tooth, 6-4-2 is a primary sun gear duplex tooth,
6-4-3 is a first planet carrier, 6-4-4 is a first planet wheel set,
6-4-5 is an inner gear ring, 6-4-6 is a secondary sun wheel cover,
6-4-7 is a self-lubricating ring, 6-4-8 is a tail end connecting flange,
6-4-9 is a second planet wheel carrier, 6-4-10 is a second planet wheel set,
6-5-1 is a first-level duplex tooth of the hip joint in the X direction, 6-5-2 is a second-level duplex tooth of the hip joint in the X direction,
6-5-3 is a hip joint X-direction three-level duplex tooth, and 6-5-4 is a hip joint X-direction tail end large gear.
Detailed Description
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. As used herein, the terms "first," "second," and the like, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" and similar words are intended to mean that the elements or items listed before the word cover the elements or items listed after the word and their equivalents, without excluding other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
As shown in fig. 1, the anthropomorphic robot of the utility model comprises a trunk framework 1, a waist 2, a right leg 3 and a left leg 4; taking the waist 2 as a center, the waist 2 is upwards connected with the trunk framework 1 through a waist rotating platform 5, and the left side and the right side of the waist 2 are respectively connected with the left leg 3 and the right leg 4 through a right two-degree-of-freedom hip joint 6 and a left two-degree-of-freedom hip joint 7;
as shown in fig. 2, the waist 2 comprises a waist shell 2-1, a waist rotating platform 5 is arranged at the top of the waist shell 2-1, and a right two-degree-of-freedom hip joint 6 and a left two-degree-of-freedom hip joint 7 are fixedly arranged at the lower part of the waist shell 2-1; the waist rotating platform 5 is driven to rotate through the waist rotating mechanism, so that the trunk framework 1 is driven to rotate left and right around the Z axis; the waist rotating mechanism is arranged inside the waist shell 2-1;
as shown in fig. 3, the right leg 3 comprises a right thigh 8, a right shank 9 and a right sole 11 which are connected in sequence, and the lower end of the right shank 9 is connected with the right sole 11 through a right ankle joint 10;
as shown in fig. 4, the left leg 4 includes a left upper leg 12, a left lower leg 13, and a left sole 15 connected in sequence, and the lower end of the left lower leg 13 is connected to the left sole 15 via a left ankle joint 14.
As shown in fig. 5 and 6, the right two-degree-of-freedom hip joint 6 comprises a hip joint ball 6-1, the tail end of the hip joint ball 6-1 along the X direction is fixedly connected with a joint ball cover 6-2, and the hip joint ball 6-1 is fixedly connected with a core sleeve 6-9 along the X direction through a plurality of screws; the tail end of the core sleeve 6-9 is fixedly provided with an X-axis magnet 6-11; the tail end of the core sleeve 6-9 is connected with a core sleeve sliding pin 6-12;
the tail end of the core sleeve 6-9 is provided with a sliding sheet; the sliding sheet of the core sleeve 6-9 is matched with the fixedly arranged sliding groove of the core sleeve sliding pin 6-12, so that the sliding sheet of the core sleeve 6-9 can move circumferentially relative to the sliding groove of the core sleeve sliding pin 6-12;
when the core sleeve 6-9 rotates relative to the core sleeve sliding pin 6-12 until the two circumferential motion limiting blocks interfere with each other, the core sleeve 6-9 cannot rotate continuously, so that the X-direction rotation limiting of the hip joint ball 6-1 is realized, and the upper and lower rotation angles of the leg are prevented from exceeding 360 degrees;
an X-axis Hall sensor 6-13 is fixedly arranged on the core sleeve sliding pin 6-12, and the X-axis Hall sensor 6-13 corresponds to the X-axis magnet 6-11; the rotation angle of the core sleeve 6-9 is detected by the X-axis Hall sensor 6-13, so that the rotation angle of the hip joint ball 6-1 around the X axis can be obtained;
the hip joint ball 6-1 is fixedly connected with a hip joint X-direction tail end large gear 6-5-4 of a hip joint straight gear set 6-5 along an X axis, and the input end of the hip joint straight gear set 6-5 is connected with an X axis driving motor 6-7; the hip joint straight gear set 6-5 is arranged in the hip joint gear box shell 6-3; the hip joint gearbox shell 6-3 is fixedly connected with a motor bracket 6-10 along the X direction; the X-axis driving motor 6-7 is fixedly connected with the motor bracket 6-10 through a screw; the core sleeve sliding pin 6-12 is fixedly connected with the motor bracket 6-10;
as shown in FIG. 7, the hip joint spur gear set 6-5 comprises a hip joint X-direction first-stage duplex tooth 6-5-1, a hip joint X-direction second-stage duplex tooth 6-5-2, a hip joint X-direction third-stage duplex tooth 6-5-3 and a hip joint X-direction tail end gearwheel 6-5-4 which are meshed in sequence; an output shaft of the X-axis driving motor 6-7 is fixedly connected with a small spur gear through welding; the small straight gear, the first-stage duplex gear 6-5-1 in the X direction of the hip joint, the second-stage duplex gear 6-5-2 in the X direction of the hip joint, the third-stage duplex gear 6-5-3 in the X direction of the hip joint and the big gear 6-5-4 in the X direction of the hip joint form a group of speed and torque increasing gear sets with the total speed reduction ratio of 292.4, and the maximum torque can reach 439.3 kg.cm; thereby converting the high-speed input of the X-axis driving motor 6-7 into the low-speed high-torque output of the hip joint ball 6-1, and further realizing the rotational freedom degree of the hip joint ball 6-1 around the X axis;
the hip joint gearbox shell 6-3 is sleeved on the hip joint ball 6-1 in an empty way; when the X-axis driving motor 6-7 drives the hip joint X to rotate towards the big gear wheel 6-5-4 at the tail end through the hip joint straight gear set 6-5, the hip joint ball 6-1 can be driven to rotate around the X axis relative to the fixed hip joint gearbox shell 6-3.
The hip joint gearbox shell 6-3 is fixedly connected with the waist shell 2-1 so as to realize the fixed connection of the right two-degree-of-freedom hip joint 6 and the waist 2.
As shown in fig. 6, a Y-axis driving motor 6-8 is also fixedly arranged on the motor support 6-10, and the Y-axis driving motor 6-8 penetrates through the hip joint gearbox shell 6-3 and is fixedly connected with a hip joint ball 6-1 through a plurality of screws;
an output shaft of the Y-axis driving motor 6-8 is connected with a planet wheel speed reducing mechanism 6-4 through a bevel gear pair, and the tail end of the planet wheel speed reducing mechanism 6-4 is connected with a flange 6-4-8 to serve as an output end of the right two-degree-of-freedom hip joint 6; the Y-axis driving motor 6-8 drives the tail end connecting flange 6-4-8 of the planet wheel speed reducing mechanism 6-4 to rotate around the Y axis through a bevel gear pair, so that the right two-degree-of-freedom hip joint 6 realizes the degree of freedom of rotation around the Y axis.
As shown in fig. 8, an output shaft of the Y-axis driving motor 6-8 is fixedly connected with a bevel gear by welding, and the bevel gear and a bevel gear of the bevel gear duplex teeth 6-4-1 form a 90-degree reversing bevel gear set to realize vertical reversing for converting the rotation in the X direction into the rotation in the Y direction; a straight gear of the bevel gear duplex teeth 6-4-1 is meshed with a big gear of the first-stage sun gear duplex teeth 6-4-2, a small gear of the first-stage sun gear duplex teeth 6-4-2 is used as a sun gear of the first-stage planetary gear set, and a small gear of the first-stage sun gear duplex teeth 6-4-2 is simultaneously and externally meshed with three small planetary gears of the first planetary gear set 6-4-4; three small planet wheels of the first planet wheel set 6-4-4 are arranged on the first planet wheel carrier 6-4-3; three small planet wheels of the first planet wheel set 6-4-4 are simultaneously internally meshed with the inner gear ring 6-4-5; a pinion of the primary sun gear duplex teeth 6-4-2, the first planet gear set 6-4-4 and the inner gear ring 6-4-5 form a first-stage NGW planet gear speed reducing mechanism; the rotation of the Y-axis driving motor 6-8 can drive the first planet wheel set 6-4-4 to revolve in the inner gear ring 6-4-5;
the inner gear ring 6-4-5 is internally meshed with the first planetary gear set 6-4-4 and also internally meshed with three small planetary gears of the second planetary gear set 6-4-10, and the three small planetary gears of the second planetary gear set 6-4-10 are arranged on the second planetary gear carrier 6-4-9; three small planet wheels of the second planet wheel set 6-4-10 are simultaneously externally meshed with the pinion of the secondary sun wheel cover 6-4-6; the first planet wheel bracket 6-4-3 is fixedly arranged in a wheel cover of the second-stage sun wheel cover 6-4-6; a pinion of the secondary sun wheel cover 6-4-6, the second planetary wheel set 6-4-10 and the inner gear ring 6-4-5 form a second-stage NGW planetary wheel speed reducing mechanism;
the revolution of the first planetary gear set 6-4-4 in the inner gear ring 6-4-5 can drive the pinion of the second-level sun gear cover 6-4-6 to rotate through the first planetary gear bracket 6-4-3, so as to drive the second planetary gear set 6-4-10 to revolve in the inner gear ring 6-4-5;
the second planetary wheel set 6-4-10 is simultaneously externally meshed with the pinion of the tail end connecting flange 6-4-8, and the revolution of the second planetary wheel set 6-4-10 can drive the tail end connecting flange 6-4-8 to rotate;
through torque increasing and speed reducing of the planet wheel speed reducing mechanism 6-4, the maximum torque of the tail end connecting flange 6-4-8 can reach 340 kg.cm;
a self-lubricating ring 6-4-7 is arranged between the inner gear ring 6-4-5 and the tail end connecting flange 6-4-8;
the tail end connecting flange 6-4-8 is used as a Y-direction output end of the right hip joint and is connected with the right thigh 8.
The right two-degree-of-freedom hip joint 6 of the utility model has two rotational degrees of freedom, namely an X-axis rotational degree of freedom and a Y-axis rotational degree of freedom; the X-axis driving motor 6-7 drives the hip joint ball 6-1 to rotate around the X axis through the hip joint straight gear set 6-5; the Y-axis driving motor 6-8 realizes vertical reversing from X-axis rotation to Y-axis rotation through a bevel gear pair, and drives the tail end connecting flange 6-4-8 to rotate around the Y-axis through the planet wheel speed reducing mechanism 6-4; because the Y-axis driving motor 6-8 is fixedly connected with the hip joint ball 6-1, the X-axis rotation is the father-level degree of freedom, the Y-axis rotation is the son-level degree of freedom, namely, the right hip joint is moved to perform front-back leg lifting action, and then the right thigh 8 is driven to perform rotation action; the sequence of the two degrees of freedom enables only the sequence to be considered during later stage forward and backward motion calculation without additionally increasing displacement, and can improve the calculation efficiency.
The structure of the left two-degree-of-freedom hip joint 7 is the same as that of the right two-degree-of-freedom hip joint 6, and the description is omitted.
It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications of the present invention fall within the scope of the claims and their equivalent technologies, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A two-degree-of-freedom hip joint of an anthropomorphic robot is characterized in that: the hip joint ball (6-1) is fixedly connected with a hip joint X-direction tail end large gear (6-5-4) of a hip joint straight gear set (6-5) along an X axis, and the input end of the hip joint straight gear set (6-5) is connected with an X axis driving motor (6-7); an X-axis driving motor (6-7) drives a hip joint ball (6-1) to rotate around an X axis through a hip joint straight gear set (6-5), so that the two-degree-of-freedom hip joint realizes the degree of freedom of rotation around the X axis;
the hip joint ball (6-1) is fixedly connected with a Y-axis driving motor (6-8); an output shaft of the Y-axis driving motor (6-8) is connected with a planet wheel speed reducing mechanism (6-4) through a bevel gear pair, and the tail end of the planet wheel speed reducing mechanism (6-4) is connected with a flange (6-4-8) to serve as a Y-direction output end of the two-degree-of-freedom hip joint; and a Y-axis driving motor (6-8) drives a tail end connecting flange (6-4-8) of the planet wheel speed reducing mechanism (6-4) to rotate around the Y axis through a bevel gear pair, so that the two-degree-of-freedom hip joint realizes the degree of freedom of rotation around the Y axis.
2. The two-degree-of-freedom hip joint of the anthropomorphic robot of claim 1, characterized in that: the hip joint ball (6-1) is fixedly connected with the core sleeve (6-9) along the X direction; the tail end of the core sleeve (6-9) is provided with a sliding sheet; the tail end of the core sleeve 6-9 is connected with a core sleeve sliding pin (6-12) through a sliding sheet; the core sleeve sliding pin (6-12) is fixedly arranged; and circumferential motion limiting blocks are respectively formed on the sliding sheets of the core sleeves (6-9) and the sliding grooves of the core sleeve sliding pins (6-12).
3. The two-degree-of-freedom hip joint of the anthropomorphic robot of claim 2, characterized in that: the sliding sheet of the core sleeve (6-9) is matched with the sliding groove of the core sleeve sliding pin (6-12) so that the sliding sheet of the core sleeve (6-9) can move circumferentially relative to the sliding groove of the core sleeve sliding pin (6-12).
4. The two-degree-of-freedom hip joint of the anthropomorphic robot of claim 2, characterized in that: the tail end of the core sleeve (6-9) is fixedly provided with an X-axis magnet (6-11); an X-axis Hall sensor (6-13) is fixedly arranged on the core sleeve sliding pin (6-12), and the X-axis Hall sensor (6-13) corresponds to the X-axis magnet (6-11).
5. The two-degree-of-freedom hip joint of the anthropomorphic robot of claim 1, characterized in that: the hip joint straight gear set (6-5) comprises hip joint X-direction first-stage duplex teeth (6-5-1), hip joint X-direction second-stage duplex teeth (6-5-2), hip joint X-direction third-stage duplex teeth (6-5-3) and a hip joint X-direction tail end large gear (6-5-4) which are meshed in sequence; the output shaft of the X-axis driving motor (6-7) is fixedly connected with a small straight gear, and the small straight gear, the first-stage duplex teeth (6-5-1) in the X direction of the hip joint, the second-stage duplex teeth (6-5-2) in the X direction of the hip joint, the third-stage duplex teeth (6-5-3) in the X direction of the hip joint and the big gear (6-5-4) at the X direction of the hip joint form a group of speed-reducing and torque-increasing gear sets.
6. The two-degree-of-freedom hip joint of the anthropomorphic robot of claim 1, characterized in that: an output shaft of the Y-axis driving motor (6-8) is fixedly connected with a bevel gear, and the bevel gear and a bevel gear of the bevel gear duplex teeth (6-4-1) form a group of reversing bevel gear sets; a straight gear of the bevel gear duplex teeth (6-4-1) is meshed with a large gear of the primary sun gear duplex teeth (6-4-2), and a small gear of the primary sun gear duplex teeth (6-4-2) is simultaneously and externally meshed with a plurality of small planetary gears of the first planetary gear set (6-4-4); a plurality of small planet wheels of the first planet wheel set (6-4-4) are arranged on the first planet wheel carrier (6-4-3); a plurality of small planet wheels of the first planetary wheel set (6-4-4) are simultaneously internally meshed with the inner gear ring (6-4-5);
the inner gear ring (6-4-5) is internally meshed with a plurality of small planet wheels of the first planet wheel set (6-4-4) and also internally meshed with a plurality of small planet wheels of the second planet wheel set (6-4-10), and a plurality of small planet wheels of the second planet wheel set (6-4-10) are arranged on the second planet wheel carrier (6-4-9); a plurality of small planet wheels of the second planetary gear set (6-4-10) are simultaneously externally meshed with the small gears of the secondary sun wheel cover (6-4-6); the first planet wheel bracket (6-4-3) is fixedly arranged in a wheel cover of the second-stage sun wheel cover (6-4-6);
a plurality of small planet wheels of the second planetary gear set (6-4-10) are simultaneously externally meshed with the small gears of the end connecting flange (6-4-8).
7. The two-degree-of-freedom hip joint of the anthropomorphic robot of claim 5, wherein: an output shaft of the Y-axis driving motor (6-8) is fixedly connected with a bevel gear, and the bevel gear and a bevel gear of the bevel gear duplex teeth (6-4-1) form a group of 90-degree reversing bevel gear sets; a straight gear of the bevel gear duplex teeth (6-4-1) is meshed with a large gear of the primary sun gear duplex teeth (6-4-2), and a small gear of the primary sun gear duplex teeth (6-4-2) is simultaneously and externally meshed with a plurality of small planetary gears of the first planetary gear set (6-4-4); a plurality of small planet wheels of the first planet wheel set (6-4-4) are arranged on the first planet wheel carrier (6-4-3); a plurality of small planet wheels of the first planetary wheel set (6-4-4) are simultaneously internally meshed with the inner gear ring (6-4-5);
the inner gear ring (6-4-5) is internally meshed with a plurality of small planet wheels of the first planet wheel set (6-4-4) and also internally meshed with a plurality of small planet wheels of the second planet wheel set (6-4-10), and a plurality of small planet wheels of the second planet wheel set (6-4-10) are arranged on the second planet wheel carrier (6-4-9); a plurality of small planet wheels of the second planetary gear set (6-4-10) are simultaneously externally meshed with the small gears of the secondary sun wheel cover (6-4-6); the first planet wheel bracket (6-4-3) is fixedly arranged in a wheel cover of the second-stage sun wheel cover (6-4-6);
a plurality of small planet wheels of the second planetary gear set (6-4-10) are simultaneously externally meshed with the small gears of the end connecting flange (6-4-8).
8. The two-degree-of-freedom hip joint of the anthropomorphic robot of claim 1, characterized in that: the hip joint straight gear set (6-5) is arranged in the hip joint gear box shell (6-3); the hip joint gearbox shell (6-3) is fixedly connected with a motor bracket (6-10) along the X direction; the X-axis driving motor (6-7) and the Y-axis driving motor (6-8) are fixedly connected with a motor bracket (6-10); the hip joint gear box shell (6-3) is sleeved on the hip joint ball (6-1) in an empty way.
9. An anthropomorphic robot having a two degree of freedom hip joint according to any of claims 1 to 8, characterized in that: comprises a trunk framework (1), a waist (2), a right leg (3) and a left leg (4); the waist (2) is connected with the trunk framework (1) through a waist rotating platform (5), and the left side and the right side of the waist (2) are respectively connected with the left leg (4) and the right leg (3) through the two-degree-of-freedom hip joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921110341.9U CN210361383U (en) | 2019-07-16 | 2019-07-16 | Two-degree-of-freedom hip joint of anthropomorphic robot and anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921110341.9U CN210361383U (en) | 2019-07-16 | 2019-07-16 | Two-degree-of-freedom hip joint of anthropomorphic robot and anthropomorphic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210361383U true CN210361383U (en) | 2020-04-21 |
Family
ID=70271708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921110341.9U Expired - Fee Related CN210361383U (en) | 2019-07-16 | 2019-07-16 | Two-degree-of-freedom hip joint of anthropomorphic robot and anthropomorphic robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210361383U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113070902A (en) * | 2021-04-08 | 2021-07-06 | 合肥工业大学 | Three-axis rotating robot joint |
| CN113442161A (en) * | 2021-07-19 | 2021-09-28 | 北京理工大学 | Robot joint, robot bionic hip joint and robot |
-
2019
- 2019-07-16 CN CN201921110341.9U patent/CN210361383U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113070902A (en) * | 2021-04-08 | 2021-07-06 | 合肥工业大学 | Three-axis rotating robot joint |
| CN113070902B (en) * | 2021-04-08 | 2022-09-16 | 合肥工业大学 | Three-axis rotating robot joint |
| CN113442161A (en) * | 2021-07-19 | 2021-09-28 | 北京理工大学 | Robot joint, robot bionic hip joint and robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021189677A1 (en) | Limb structure having parallel-driven joint for bionic robot, and bionic robot | |
| CN110588833B (en) | High-load three-section leg structure suitable for electric foot type robot | |
| EP2602068A1 (en) | Parallel mechanism | |
| CN101850797B (en) | Modularized multiped walking robot capable of realizing functional shift between hands and feet | |
| CN210361383U (en) | Two-degree-of-freedom hip joint of anthropomorphic robot and anthropomorphic robot | |
| US20190390736A1 (en) | Thickness-variable transmission structure for robot joint | |
| CN107433574A (en) | A kind of six degree of freedom connection in series-parallel puts together machines people | |
| WO2021189675A1 (en) | Parallel-drive joint used for super-dynamic bionic robot, and robot | |
| CN102267134B (en) | Multifunctional universal robot | |
| CN102615641A (en) | Five-degree-of-freedom parallel power head | |
| WO2023087869A1 (en) | Portable fully coupled parallel continuum robot arm | |
| CN110202593B (en) | Anthropomorphic robot capable of realizing biped upright walking | |
| CN101590650B (en) | Decoupled three-rotational-degree-of-freedom parallel mechanism | |
| US4492510A (en) | Robot hand driving mechanism | |
| CN100382938C (en) | Pitching transferring integrated waist structure of human-like robot | |
| WO2023005033A1 (en) | Joint module and robot leg | |
| CN216842951U (en) | Multi-degree-of-freedom transmission mechanism | |
| CN113459154B (en) | Humanoid mechanical arm based on differential mechanism | |
| CN206344142U (en) | A kind of light-duty multi-axis robot | |
| CN210335971U (en) | Double-freedom-degree thigh assembly of anthropomorphic robot and anthropomorphic robot | |
| CN102795274A (en) | Mechanical joint and leg structure of bionic mechanical dinosaur | |
| CN104742995A (en) | Modularized leg unit of multi-foot mobile robot | |
| CN2492352Y (en) | Two-freedom knuckle mechanism | |
| CN107297729A (en) | Environmentally friendly solar-energy machine people is used in a kind of architectural engineering | |
| JP7023386B2 (en) | Free transmission device for one-way power distribution |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200421 Termination date: 20210716 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |