Anthropomorphic hip structure capable of freely moving in all directions
An anthropomorphic and hip technology, applied in the field of anthropomorphic hip structure, can solve the problems of inflexible three-way structure coordination, complex structural design methods, low bearing capacity, etc., and achieve the goal of expanding the working range of motion, compact structure, and strong bearing capacity Effect
Inactive Publication Date: 2014-11-05
HANGZHOU HUQING TECH
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[0003] The hip structure of the anthropomorphic walking equipment belongs to the three-directional spherical structure. In the design of the bionic mechanism, it can be replaced by a one-way rotating structure with three mutually perpendicular directions in space as axes. In the straight-line walking of the equipment, only the pitch rotation direction in the longitudinal plane plays an important role, and the rotation in the other two directions only plays an important role in the turning and some special postures of the anthropomorphic equipment
However, the hip structure design in the prior art has the defects of insufficient power, low bearing capacity and inflexible three-way structure coordination.
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[0017] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0018] According to an embodiment of the present invention, a humanoid hip structure that can move freely in all directions is proposed, such as figure 1 , figure 2 and image 3 As shown, the hip structure includes: the first power output unit 1, the first active non-slip transmission belt drive wheel 2-1, the first non-slip transmission belt 2-2, the first cooperative non-slip transmission Belt drive wheel 2-3, first flexible r...
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The invention provides an anthropomorphic hip structure capable of freely moving in all directions. According to the hip structure, due to skillful coordination among a plurality of power output units, a transmission belt with no slip frequency and a flexible ratchet wheel speed reducer, rotating center lines in three swing directions are mutually orthogonal, the working and moving range of the legs of an anthropomorphic device is enlarged, the structure is compact, output torque is large, the bearing capacity is large, flexibility is high, and the power performance of the anthropomorphic device is improved.
Description
technical field [0001] The invention relates to the field of anthropomorphic equipment, in particular to an anthropomorphic hip structure capable of omnidirectional free movement. Background technique [0002] The hip structure is one of the key parts of the anthropomorphic walking equipment. It is the connecting part of the two legs and the supporting part of the upper body. At the same time, it needs to integrate driving elements in multiple directions such as the driving of the legs and the driving of the upper body. The mechanical efficiency and driving efficiency of the hip structure directly affect the overall control and energy consumption of the entire structure. [0003] The hip structure of the anthropomorphic walking equipment belongs to the three-directional spherical structure. In the design of the bionic mechanism, it can be replaced by a one-way rotating structure with three mutually perpendicular directions in space as axes. In the straight-line walking of t...
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Inventor 陈雪飞
Owner HANGZHOU HUQING TECH