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Robot joint drive mechanism, robot lower limb and foot type humanoid robot

A technology of robot joints and driving mechanisms, applied in the field of robots, can solve the problems of large hydraulic system, large torsional force, consumption, etc., and achieve the effect of high energy efficiency ratio, reduced processing accuracy requirements, and reduced manufacturing costs.

Pending Publication Date: 2020-04-07
上海硅族智能科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] (1) The motors in industrial servo motors or digital steering gears are joint circular rotating structures, and there are practical engineering problems that cannot be overcome as follows: First, the energy efficiency ratio is low: because the deceleration and transmission mechanisms are often relatively large in mass, most of the energy is used to consume on the motor joint
Second, the cost is high: the torsional force required by the joint is huge, so high machining accuracy of the transmission gear is required, which causes problems such as high manufacturing cost, which greatly hinders the application of legged robots
[0008] (2) The hydraulic system has engineering and technical problems that are difficult to overcome, such as the complex control system and the large volume of the hydraulic system
Moreover, the large and redundant hydraulic system makes its cost extremely high, making it difficult to achieve large-scale commercialization and civilian use

Method used

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  • Robot joint drive mechanism, robot lower limb and foot type humanoid robot
  • Robot joint drive mechanism, robot lower limb and foot type humanoid robot
  • Robot joint drive mechanism, robot lower limb and foot type humanoid robot

Examples

Experimental program
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Effect test

Embodiment 1

[0048] On the one hand, this embodiment provides a robot joint drive mechanism, to figure 1 The ankle joint drive mechanism of the footed robot shown as an example is described, and the robot joint in the present embodiment includes: a first joint (such as figure 1 Shown calf 1), the second joint (such as figure 1 Shown sole 2) and at least one linear drive 3. Wherein, the second joint part is connected with the first joint part to form the joint of the robot (herein, the formed joint has at least one degree of freedom; as figure 1 As shown, the calf 1 and sole 2 are connected to form the ankle joint of the robot). Each linear drive 3 has a first end and a second end oppositely arranged; wherein, the first end of the linear drive 3 is connected with the first joint, and the second end is connected with the second joint, so that the drive of the linear drive 3 Next, adjust the relative angle between the first joint part and the second joint part; wherein, a triangular electr...

Embodiment 2

[0054] Preferably, this embodiment provides a robot joint drive mechanism, compared with the previous embodiment, such as figure 1 As shown, the present embodiment is further designed as follows:

[0055] Preferably, the linear driver 3 in this embodiment is an electric linear driver, so as to make the robot joint drive mechanism provided in this embodiment more convenient. The linear driver 3 in the present embodiment is designed as a pen holder type structure, which is convenient to realize the linear drive of the linear driver 3, and also facilitates the linear driver 3 as the supporting edge and the connecting edge of the first joint and the second joint, so that the whole The structural stability of the joint driving mechanism is better.

[0056] Preferably, the structure of the linear driver 3 in this embodiment is specifically designed as follows: the linear driver includes a pen holder type sleeve 31, a push rod 32 and a drive mechanism; wherein the push rod 32 has a ...

Embodiment 3

[0060] On the other hand, this embodiment provides a lower limb of a robot; wherein, the lower limb of the robot includes the joint driving mechanism described in any one of the above. The joint driving mechanism here includes an ankle joint driving mechanism, a knee joint driving mechanism and a hip joint driving mechanism.

[0061] The lower limbs of the robot provided in this embodiment adopt the joint drive mechanism provided in the above-mentioned embodiments, so that the lower limbs of the robot are more in line with the principle of human bionics, and have a very high energy efficiency ratio; due to the high energy efficiency ratio and excellent structural performance, the robot drives joints The requirements for machining accuracy are greatly reduced, thereby greatly reducing the manufacturing cost of the lower limbs of the robot.

[0062] Such as Figure 1 to Figure 4 As shown, the lower limbs of the robot in this embodiment include: waist 5, legs and soles 2; wherei...

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Abstract

The invention relates to a robot joint drive mechanism, a robot lower limb and a foot type humanoid robot. According to the scheme mainly adopted, the robot joint drive mechanism comprises a first joint piece, a second joint piece and at least one linear driver; the second joint piece and the first joint piece are connected to form a robot joint; each linear driver is provided with a first end anda second end which are oppositely arranged, wherein the first end of the linear driver is connected with the first joint piece, the second end is connected with the second joint piece, and accordingly under driving of the linear driver, the angle of the joint is adjusted; and a triangular electric drive structure is formed among the first joint piece, the second joint piece and each linear driver. The robot lower limb comprises the robot joint drive mechanism. The foot type humanoid robot comprises the robot lower limb. The robot joint drive mechanism, the robot lower limb and the foot type humanoid robot are mainly used for increasing the energy efficiency ratio of the robot joint drive mechanism and reducing the manufacturing cost of the foot type robot, and industrial and large-scale application of the large foot type robot is achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot joint drive mechanism, a robot lower limb and a footed humanoid robot. Background technique [0002] Legged (two-legged or multi-legged) humanoid robot is a robot that imitates the movement characteristics of human beings such as standing, walking and jumping. Footed humanoid robot involves the cross fusion of many disciplines (such as bionics, electromechanical control theory, mechanical design and manufacturing, computer science, sensor technology, etc.). Footed humanoid robot is a multi-joint system; and the joint drive research of footed humanoid robot is a difficult point in the academic and industrial circles at home and abroad. [0003] At present, there are two main types of joint drive components for footed humanoid robots: [0004] The first type: use industrial servo motors or digital servos to drive the joint motion of the robot; specifically, place the motor...

Claims

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Application Information

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IPC IPC(8): B25J9/12B25J17/00
CPCB25J9/12B25J17/00
Inventor 孙阳阳苏言杰
Owner 上海硅族智能科技有限公司