Waist joint for humanoid robot

Abstract

The invention relates to the field of robots, in particular to a waist joint for a humanoid robot. According to the waist joint for the humanoid robot, two lifting mechanisms and a rotation mechanism are arranged between a movable platform and a fixed platform, and the connection positions of the two lifting mechanism and the connection position of the rotation mechanism with the movable platform are in a triangle shape. Power sources of the three mechanisms are independent, so that the three mechanisms integrally form a linkage structure which has a good carrying capacity; meanwhile, the pitching and rolling motion of the movable platform are completed through the two lifting mechanisms cooperatively, rotation of the movable platform is completed through the two lifting mechanisms and the rotation mechanism cooperatively, three-degree-of-freedom motion of the movable platform relative to the fixed platform is achieved, the motion space is similar to that of a waist joint of a human body, and the motion range requirement is met; and in addition, pitching, rolling and rotation of the movable platform are completed through the two or three mechanisms cooperatively, the three mechanism bear loads, and thus the overall carrying capacity is improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a waist joint for a humanoid robot. Background technique [0002] The design of the waist joint is an important link in the design of humanoid robots, which can adjust the center of gravity of the robot and coordinate the movement between the upper body and lower limbs. The waist joint can significantly improve the flexibility, carrying capacity and motion precision of the humanoid robot. [0003] So far, most lumbar joints use a series mechanism, but due to space constraints, most of them only have two degrees of freedom. For example, a humanoid robot double T-shaped lumbar joint structure in the prior art uses a The T-shaped structure enables the waist joint to have two degrees of freedom of rotation and pitch; because it is a series mechanism, the motor below has to bear the load of the other motor, causing a large load on the motor. [0004] At present, there are problems such as larg...

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Problems solved by technology

[0003] So far, most lumbar joints use a series mechanism, but due to space constraints, most of them only have two degrees of freedom. For example, a humanoid robot double T-shaped lumbar joint structure in the prior art uses a The T-shaped structure enables the waist joint to have two degrees of freedom of rotation and pitch; because it is a series mechanism, the lower motor has to bear the load of another motor, causing a large load on the motor

[0004] At present, there are problems such as large load on the waist motor of the humanoid robot waist joint, high structural height, low carrying capacity, and limited range of motion.

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