Double-T type waist joint structure of humanoid robot
A humanoid robot and waist joint technology, applied in the field of robotics, can solve problems such as waist rigidity and insufficient motor connection, achieve standardized use methods, enhance overall strength and stiffness, and prolong service life
Inactive Publication Date: 2009-11-18
ZHEJIANG UNIV
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[0003] Chinese patent CN1864942A discloses a waist structure of a humanoid robot, which has two degrees of freedom of waist pitch and rotation, but the waist rigidity and motor connection of this structure are insufficient
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[0013] Further illustrate the present invention below in conjunction with accompanying drawing.
[0014] With reference to the accompanying drawings, the double T-shaped waist joint structure of the humanoid robot of the present invention includes two parts: a waist transfer structure and a waist pitch structure:
[0015] The waist transfer structure includes a T-shaped waist main board 1 composed of a flat plate and a cylinder, a transfer harmonic reducer 2 composed of a coaxial first rigid wheel 3, a first wave generator 6 and a first flexible wheel 7, The waist intermediate shaft 9 and the motor 14 constituted by the upper frame and the lower cylinder, the first rigid wheel 3 of the intermediate harmonic reducer 2 is fixed on the waist main board 1, the axis of the first rigid wheel 3 and the cylinder of the waist main board 1 The axis p1 coincides, the motor 14 has the first encoder 15, and is fixed in the lower cylinder of the waist shaft 9 through the motor flange 11. T...
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The invention relates to a double-T type waist joint structure of a humanoid robot, comprising a waist transit structure and a waist pitch structure; wherein, the waist transit structure comprises a T type waist main board, a transit harmonic reducer, a waist transit shaft and a motor; the waist pitch structure includes a pitch harmonic reducer; by adopting differential gear transmission principle of the harmonic reducers, the transiting and the pitching movement of the waist joint can be realized. The double-T type structure in adopted on the whole waist part, so as to enhance the whole intensity and rigidity of the waist part, thus expanding the range of motion of the waist part, bearing the weight of the upper part of the body and the influence caused by unbalanced movement of the body, and meeting the requirement of implementing the operation by the upper part of the body. The invention has light weight, compact structure and high transmission accuracy; furthermore, the waist part structure of the humanoid robot can meet the requirements of large-scale transiting and the pitching movement as well as quick response.
Description
technical field [0001] The invention belongs to the field of robots and relates to a double T-shaped waist joint structure of a humanoid robot. Background technique [0002] So far, most of the robot waists that have been successfully developed in the world use motors with encoders and harmonic reducers as the drive devices for robot joints. Such as Japan's ASIMO, HRP-2, South Korea's KHR-3. The waist joint is an important joint connecting the upper body and the lower limbs of the robot, and it needs to overcome the impact of the imbalance of the upper body while bearing the weight of the upper body, so most robots have no waist, like ASIMO and KHR-3. One deflection degree of freedom. [0003] Chinese patent CN1864942A discloses a waist structure of a humanoid robot, which has two degrees of freedom of waist pitch and transfer, but the structure has insufficient waist rigidity and motor connection. Contents of the invention [0004] The object of the present invention i...
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Inventor 朱秋国熊蓉周建军张大松褚健
Owner ZHEJIANG UNIV