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Lumbar joint mechanism and robot

A waist joint and robot technology, applied in the field of humanoid robots, can solve the problems of large inertia, complex structure, and no waist joints, etc., and achieve the effects of fewer parts, simple structure, and improved impact resistance.

Active Publication Date: 2021-05-25
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the above-mentioned structure has disadvantages such as complex structure and large inertia, and even some humanoid robots do not have waist joints at all.

Method used

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  • Lumbar joint mechanism and robot

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Embodiment Construction

[0026] The details of the present invention can be understood more clearly with reference to the accompanying drawings and the description of specific embodiments of the present invention. However, the specific embodiments of the present invention described here are only for the purpose of explaining the present invention, and should not be construed as limiting the present invention in any way. Under the teaching of the present invention, the skilled person can conceive any possible modification based on the present invention, and these should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or there may also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted", "connec...

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Abstract

The invention discloses a waist joint mechanism and a robot, which relate to the technical field of humanoid robots, and include: a waist ball seat and a waist ball cover, both of which together form an accommodation cavity, and a relatively symmetrical first concave portion is provided on the inner side wall of the accommodation cavity And the second depression; the waist ball arranged in the accommodating cavity, the side wall of the waist ball has a first and second position-limiting protrusions that are symmetrical, and the first position-limiting protrusion is embedded in the first depression , the second concave part is embedded in the second concave part, there is a gap between the upper end surface of the first limiting protrusion, the lower end surface of the first limiting protrusion and the wall surface of the first concave part, and the upper end surface of the second limiting protrusion There is a gap between the end surface, the lower end surface of the second limiting protrusion and the wall surface of the second recess. This application can have strong impact resistance when the robot touches the ground, and can realize the bending action of the robot's waist in multiple directions during the robot's movement process, and its manufacturing and installation accuracy requirements are relatively low, which is convenient for production. Simple and light weight.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a waist joint mechanism and a robot. Background technique [0002] Humanoid robot is an advanced development stage of advanced robot technology, which comprehensively embodies the research and development level of advanced robot mechanism, motion and dynamics, etc., and is a complex comprehensive system. Among them, the waist joint of humanoid robot is one of the difficulties in the design of humanoid robot. The purpose of adding waist joints to the humanoid robot is to improve the stability of the robot's walking and continuous and rapid walking, so that the humanoid robot can realize the coordinated movements of the whole body (upper limbs, lower limbs and waist) like humans, and at the same time complete Various jobs. The waist of the humanoid robot must not only realize the flexible bending function, but also have the characteristics of impact resistance in the moti...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
CPCB25J17/0283
Inventor 高峻峣石选阳黄强张春雷高建程王家琪田定奎
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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