Bionic waist mechanism of humanoid robot and with telescoping driving devices

Abstract

The invention provides a bionic waist mechanism of a humanoid robot. The bionic waist mechanism comprises a linear driving input module, a pitching deflection output module and a supporting connection structure; the linear driving input module comprises two linear telescoping driving devices which are parallel to each other and independently carry out the driving process and form a parallel differential mechanism. The linear telescoping driving devices are inclined relative to the vertical axis of the humanoid robot and are symmetrically distributed in space, a spatial triangular structure is formed, and the stability, the rigidity and the bearing capacity of the whole bionic waist mechanism can be improved. The bionic waist mechanism of the humanoid robot is simple in structure, the weight is reduced, the output capability is improved, energy consumption is reduced, the load-bearing ability is improved, and the bionic waist mechanism accords with the design object of weight reduction.

Description

technical field [0001] The invention relates to a humanoid robot, in particular to a bionic waist mechanism of a telescopically driven humanoid robot. Background technique [0002] Humanoid robot is the closest type of robot to human beings. Compared with other configuration robots, humanoid robot is more friendly in appearance, and can conveniently use various tools designed for human inventions, making it easier to adapt to human life surroundings. With the development of science and technology, people's demand for intelligent robots is increasing day by day. Humanoid robots have broad prospects for development. [0003] Humanoid robots have the characteristics of human appearance, and higher requirements are placed on the space size in design, and the space size should be as small and compact as possible. At the same time, due to the limitation of components, humanoid robots have strict requirements on weight, and the increase in mass will bring a great burden to compo...

AI Technical Summary

Problems solved by technology

For series drive, since the output of the previous mechanism is the input of the latter mechanism, the driving motor and transmission chain in one direction become the load of the other motor, which increases the load of the motor

[0007] 2) The quality of the mechanism is relatively large

However, due to the application of more gear trains, the whole mechanism is complicated and the weight of the waist is increased, and the humanoid robot has strict requirements on quality, which does not meet the principle of light weight

[0009] Aiming at the problem that the waist mechanism of the humanoid robot is relatively complex and heavy, the present invention will design a waist joint with simple structure and light weight.

Aiming at the problem that the waist motor of the humanoid robot has a large load and poor load capacity, the present invention is to design a waist joint with a small input power and a better load capacity.

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