Knee joint mechanism of humanoid robot
A humanoid robot and knee joint technology, applied in the field of robotics, can solve the problems of large structure of the adjustable tension wheel, the effect of loosening and tensioning, and easy loosening, etc., and achieve the effect of compact structure, improved ability, and avoiding heat generation
Inactive Publication Date: 2009-11-18
ZHEJIANG UNIV
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Problems solved by technology
The tensioning wheel used on the robot can improve the transmission efficiency, but the structure of the adjustable tensioning wheel used by most robots is relatively large, and it is easy to loosen after a period of use, which makes the tensioning effect not good, so improve the tensioning The mechanism of the wheel is very important
Chinese patent CN1683123A discloses a dual-loop detection system composed of a motor encoder and a potentiometer to detect the flexible transmission error of the joint reducer, but it does not consider the signals required for differential speed feedback under the dual-motor master-slave control mode
In addition, the installation method of the potentiometer is prone to looseness after experimental testing, and it is inconvenient to install and disassemble
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[0013] Further illustrate the present invention below in conjunction with accompanying drawing.
[0014] With reference to the accompanying drawings, the humanoid robot knee joint mechanism of the present invention includes a knee joint and a knee joint driving mechanism connecting the thigh and the shank;
[0015] The knee joint includes a harmonic reducer 6 composed of a rigid wheel 7, a wave generator 8, and a flexible wheel 9 coaxially installed in a housing 15, and a knee sleeve 5. The input shaft 10 and the output shaft of the harmonic reducer 6 are The shaft 12 is coaxially sleeved, one end of the input shaft 10 of the harmonic reducer 6 is fixed on the wave generator 8, and the other end is fixed on the first synchronous pulley 30, between the input shaft 10 and the output shaft 12 of the harmonic reducer 6 There are two bearings 13 and 14 between them, the flexible spline 9 is fixed on the output shaft 12, the output shaft 12 is connected to one side of the thigh 2 th...
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The invention discloses a knee joint mechanism of a humanoid robot, comprising a knee joint for connecting thigh and crus, and a knee joint driving mechanism. The moment output by a motor can be superimposed by dual-motor drive, so that the capability of the knee joint for outputting the moment can be improved, and the heating phenomenon of the motor can be avoided in a state of long time work. The knee joint driving mechanism adopts an eccentric vernier adjustment tensioner which keeps coaxial with a motor shaft, so that the distance between the motor shaft and an input shaft of the knee joint only by adjusting the angle of installation of the eccentric vernier adjustment tensioner, and the function of vernier adjustment can be realized. When in running, two encoders can realize to acquire dual-motor speed difference feedback signal, thus being convenient for master / slave control of double motors, and being beneficial to accurately acquiring knee joint angle information, correcting mechanical transmission error and improving the accuracy of control. The invention has compact structure, convenient assembly and disassembly as well as reliable running.
Description
technical field [0001] The invention belongs to the field of robots and relates to a knee joint mechanism of a humanoid robot. Background technique [0002] So far, most of the more successfully developed robots in the world use motors with encoders and harmonic reducers as the drive devices for robot joints. According to the search of existing literature, it is found that during the movement of the robot, due to insufficient motor torque, the heating phenomenon is relatively serious. The HRP-2P described in the paper of Kenji KANEKO et al.: "Humanoid Robot HRP-2" cannot walk continuously for 30 minutes. This is far from meeting the requirements of human beings for robots. The knee joint of the robot is very important in the movement of the robot. It bears the weight of the upper body and also needs to meet the function of quick start and stop, so it puts forward higher requirements for the driving ability of the knee joint. The tensioning wheel used on the robot can impro...
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IPC IPC(8): B62D57/032
Inventor 朱秋国熊蓉周建军张大松褚健
Owner ZHEJIANG UNIV