A Bionic Waist Mechanism of a Humanoid Robot Driven by Telescoping

Abstract

The invention provides a bionic waist mechanism of a humanoid robot, which includes a linear drive input module, a pitch deflection output module, and a support connection structure; wherein, the linear drive input module includes two independently driven parallel linear telescopic drive devices , forming a parallel differential mechanism. Moreover, the linear telescopic drive device is inclined and symmetrically distributed relative to the vertical axis of the humanoid robot in space, forming a triangular structure in space, and improving the stability, rigidity and bearing capacity of the entire waist mechanism. The bionic waist mechanism of the present invention has the advantages of simple structure, reduced mass, stronger output capability, reduced energy consumption, improved carrying capacity, and meets the design goal of light weight.

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 environment. 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 compon...

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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