Humanoid robot and two-degree-of-freedom modular humanoid robot joint thereof

Abstract

The invention provides a humanoid robot and a two-degree-of-freedom modular humanoid robot joint thereof, and belongs to the technical field of humanoid robots. The two-degree-of-freedom modular humanoid robot joint comprises two groups of same driving and transmission mechanisms, wherein the driving and transmission mechanisms are characterized in that a motor shaft is connected with one end of a lead screw, a middle hole of a sliding block is meshed with the lead screw, a through hole in the lower end of the sliding block is connected with one end of a connecting rod I in a sleeving mode, the other end of the connecting rod I is connected with one end of a connecting rod II through a cross shaft assembly I, the other end of the connecting rod II is fixedly connected with a joint bearing assembly, and the joint bearing assembly is fixedly connected with the execution end of a U-shaped frame. According to the humanoid robot and the two-degree-of-freedom modular humanoid robot joint thereof, the rotational inertia of the mechanism can be reduced when the arm or leg joint of the humanoid robot moves, the structure is stable, the flexibility is high, and different types of lead screws can be selected according to different use requirements for targeted design.

Description

technical field [0001] The invention relates to the technical field of humanoid robots, in particular to a humanoid robot and a two-degree-of-freedom modular humanoid robot joint. Background technique [0002] With the continuous development of robot technology, humanoid mechanical joints are increasingly being used in various industries. However, the current humanoid mechanical joints still have the following problems: the degree of anthropomorphism is low and some specific tasks cannot be completed, or they have a certain degree of anthropomorphism, but the load, mechanical strength and movement space are not enough, resulting in humanoid mechanical joints only having some demonstrations Function or application in low-load situations; these problems limit the wide application of humanoid mechanical joints. [0003] When a humanoid robot uses a mechanical joint terminal to perform tasks, especially tasks with loads, the wrist joint or ankle joint is used as the connection ...

AI Technical Summary

Problems solved by technology

However, the current humanoid mechanical joints still have the following problems: the degree of anthropomorphism is low and some specific tasks cannot be completed, or they have a certain degree of anthropomorphism, but the load, mechanical strength and movement space are not enough, resulting in humanoid mechanical joints only having some demonstrations Function or application in low-load situations; these problems limit the wide application of humanoid mechanical joints

[0004] The existing humanoid mechanical joints mainly have two types: series type and parallel type. The main problem of the series type joint is that the center of gravity of the structure is easy to be close to the execution end, the moment of inertia of the mechanism is large, and the cable layout is difficult.

Parallel joints also have some problems, such as: small working space, low stiffness, or too complicated structure, difficult to assemble and disassemble

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