Humanoid robot and its joints

Abstract

The invention provides a humanoid robot and its joints, belonging to the technical field of humanoid robots. The humanoid robot joint of the present invention includes a joint frame with an integrated structure, a first drive module, a second drive module, a connecting rod transmission module, a synchronous belt transmission module and a cross axis joint module, which are sequentially fixed in the joint frame along the direction of the execution end There are a first driving module, a second driving module and a cross shaft joint module, and the connecting rod transmission module and the synchronous belt transmission module are located on both sides of the joint frame. The invention has the advantage of reducing the moment of inertia by keeping the driving module away from the execution end in a parallel structure, and also has different configuration schemes for different degrees of freedom in the series mechanism according to the work requirements; the overall structure has a high degree of modularization and integration, High moment-to-weight ratio and high structural strength.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to humanoid robots and joints thereof. Background technique [0002] In order to save space and facilitate decoupling calculations, the combined joints of robots that can realize the compound motion of pitch and yaw at present require the rotation axes of the two degrees of freedom to intersect. Serial or parallel mechanisms are often used to realize this function. In the series mechanism, each drive module controls the movement of one joint. The structure is relatively simple, and different configuration schemes can be used for different joints. However, because one drive module needs to be installed at the output end of another drive, it increases the The moment of inertia of the structure, and the layout of cables is more difficult. The parallel mechanism generally uses the differential motion of two drive modules to realize the compound motion of pitch and yaw. The driv...

AI Technical Summary

Problems solved by technology

In the series mechanism, each drive module controls the movement of one joint. The structure is relatively simple, and different configuration schemes can be used for different joints. However, because one drive module needs to be installed at the output end of another drive, it increases the The moment of inertia of the structure, and the layout of the cables is more difficult

The parallel mechanism generally uses the differential motion of two drive modules to realize the compound motion of pitch and yaw. The drive module can be far away from the output end, which reduces the moment of inertia of the structure and the difficulty of cable layout. However, the existing parallel structure often uses the connecting rod The structure often reduces the strength of the whole mechanism, the movement space is relatively small, there are many singular points, or the differential movement is realized through other structures, the structure is easy to be complicated, and the assembly difficulty is high

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