Steering mechanism for humanoid robot hip joint
A steering mechanism and robot technology, applied in the field of robotics, can solve problems such as poor user experience, stiff walking and steering, and the inability of robots to complete human-like steering and walking actions
Inactive Publication Date: 2017-01-04
SHANGHAI XPARTNER ROBOTICS
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Problems solved by technology
Humanoid robots use the principle of bionics to realize the movement of robots similar to human beings by simulating the physiological structure of human beings. The lower limb joints of humanoid robots include hip joints, knee joints and ankle joints. During the movement of humanoid robots, the hip joints play an extremely important role. Important role, the existing humanoid robot hip joint mechanism almost has only one degree of freedom, so the robot cannot complete realistic humanoid turning and walking movements, and it often appears stiff when walking and turning, and the user experience is poor
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[0023] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.
[0024] like figure 1 and figure 2 The shown steering mechanism for the hip joint of a humanoid robot includes a cylindrical shell 1, a planetary gear train 2 and a steering gear 3. One end of the cylindrical shell 1 is open, and the other end is provided with a through hole 101, and the center of the through hole 101 is Coinciding with the center of the bottom surface of the cylindrical shell 1 where it is located, the cylindrical shell 1 is evenly provided with a plurality of mounting plates 102 outside it, and each mounting plate 102 is provided with a plurality of mounting holes 103, and the number of mounting holes can be two First, the mounting plate 102 and the cylindrical shell 1 can be integrally formed or welded together after processing separately. The integrally formed process has fewer...
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The invention discloses a steering mechanism for a humanoid robot hip joint, and belongs to the technical field of robots. The steering mechanism for the humanoid robot hip joint comprises a cylindrical shell, a planetary gear train and a steering engine; an opening is formed in one end of the cylindrical shell, and a through hole is formed in the other end of the cylindrical shell; the planetary gear train is arranged in the cylindrical shell and is positioned at the opening; the planetary gear train comprises a sun gear, at least one planet gear and an outer gear; the sun gear is engaged with the planet gear; the planet gear is engaged with the outer gear; the steering engine is arranged between the planetary gear train and the through hole; one end of the steering engine is fixedly connected with the planet gear; the other end of the steering engine penetrates through the through hole; a bearing is arranged between the steering engine and the cylindrical shell; the planetary gear train drives the steering engine to rotate, so as to achieve the purpose of improving the freedom degree of a hip joint, and avoid the phenomenon of movement stiff caused by the fact that the hip joint has only one freedom degree.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a steering mechanism for a hip joint of a humanoid robot. Background technique [0002] Humanoid robot is a kind of intelligent robot. With the development of mechanics and life defense, research on humanoid robot becomes more and more popular. Humanoid robots use the principle of bionics to realize the movement of robots similar to human beings by simulating the physiological structure of human beings. The lower limb joints of humanoid robots include hip joints, knee joints and ankle joints. During the movement of humanoid robots, the hip joints play an extremely important role. The most important role is that the existing humanoid robot hip joint mechanisms almost all have only one degree of freedom, so the robot cannot complete realistic humanoid turning and walking actions, and it often appears stiff when walking and turning, and the user experience is poor. Contents of the ...
Claims
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IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 恽为民丁磊庞作伟
Owner SHANGHAI XPARTNER ROBOTICS