A humanoid robot waist joint and its realization method

Abstract

The invention relates to a waist joint of a humanoid robot and a realization method thereof, comprising a torque transmission mechanism and a tension spring unloading mechanism, the torque transmission mechanism includes a large pulley and a small pulley and a synchronous belt, and the pitch diameter of the large pulley is the pitch diameter of the small pulley 2 times, the small pulley is fixedly connected with the upper body of the humanoid robot. When the humanoid robot bends down, the nonlinear time-varying torque generated by the gravity of the upper body on the central axis of the small pulley is transmitted to the large pulley by the timing belt; the tension spring unloading mechanism includes Extension spring, guide rail and slider, the hooks at both ends of the extension spring are respectively connected to the shoulder screw on the side of the large pulley and the hook on the top of the slider; the slider slides freely horizontally in the fixed guide rail under the large pulley, so that the extension spring The large pulley is always kept perpendicular to the guide rail during rotation. The invention greatly reduces the torque ripple of the motor, improves the dynamic characteristics of the humanoid robot, reduces the difficulty of control, reduces the power of the motor, and reduces energy consumption.

Description

technical field [0001] The invention relates to a waist joint of a humanoid robot and a realization method thereof, belonging to the technical field of robot design. Background technique [0002] Humanoid robots usually have a bending function similar to that of humans. The existing technology usually adopts a geared motor direct drive method. Since the torque generated by the upper body of the humanoid robot is relatively large during the bending process, the geared motor often requires a large power, resulting in excessive motor size. Big. During the bending process, the torque generated by the gravity of the upper body presents a non-linear change, which brings difficulties to the motor control, and it is difficult to maintain the balance of the waist force after power failure. In the prior art, hydraulic cylinders (such as CN201710983981.X), pneumatic cylinders (such as CN201220578545.7), counterweights (such as CN201811210648.6), extension springs (such as CN2018107124...

AI Technical Summary

Problems solved by technology

[0002] Humanoid robots usually have a bending function similar to that of humans. The existing technology usually adopts a geared motor direct drive method. Since the torque generated by the upper body of the humanoid robot is relatively large during the bending process, the geared motor often requires a large power, resulting in excessive motor size. Big

During the bending process, the torque generated by the gravity of the upper body presents a non-linear change, which brings difficulties to the motor control, and it is difficult to maintain the balance of the waist force after power failure

In the prior art, hydraulic cylinders (such as CN201710983981.X), pneumatic cylinders (such as CN201220578545.7), counterweights (such as CN201811210648.6), extension springs (such as CN201810712469.6) and other methods are mainly used, and there are complex structures and control problems. Difficulty, poor balance effect, high cost, etc.

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