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Robot joint, robot bionic hip joint and robot

A robot joint and robot technology, applied in the field of robots, can solve the problems of low degree of freedom, decreased motion flexibility, poor simulation effect, etc., and achieve the effect of high flexibility

Active Publication Date: 2021-09-28
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing bionic hip joints have poor simulation effects and low degrees of freedom. Usually, six active rotation degrees of freedom around the hip bone cannot be realized, which reduces the actual movement flexibility and lacks bionic expression, making it difficult to simulate the motion trajectory of

Method used

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  • Robot joint, robot bionic hip joint and robot
  • Robot joint, robot bionic hip joint and robot
  • Robot joint, robot bionic hip joint and robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0027] This embodiment provides a robot joint 100, such as Figure 1~2 As shown, it includes: frame 4, output rod 5, offset drive device 3, pitch drive device 2, universal structure 6 and rotation drive device 1, the universal joint structure 6 can be an ordinary universal joint on the market. The directional structure 6 includes two components that are universally connected. When any component in the two components rotates, it can drive the other component to rotate. One end of the universal structure 6 is connected to one end of the output rod 5, and the other end revolves around the first axis. Rotationally connected to the frame 4, the end of the output rod 5 away from the universal structure 6 is used to connect the movable parts; the offset drive device 3, the pitch drive device 2, and the rotation drive device 1 are all fixedly connected to the frame 4, and the offset The drive device 3 and the pitch drive device 2 can respectively drive the output rod 5 to rotate aroun...

Embodiment 2

[0032] This embodiment provides a robot bionic hip joint 200, such as Figure 1~4 As shown, there are two robot joints 100 in the first embodiment. The two robot joints are fixedly connected and arranged symmetrically. Each robot joint has three degrees of freedom, which can more realistically simulate the motion trajectory of the hip joint, so that the robot meets the requirements of class The characteristics of human walking, bionic expression ability is better, the robot bionic hip joint 200 provided in this embodiment is suitable for biped robots.

[0033] Further, the two racks 4, the two offset driving devices 3, the two pitching driving devices 2 and the two rotating driving devices 1 are arranged symmetrically about the center point, which is the center of the bionic hip joint of the robot. The setting can make the center of mass of the bionic hip joint of the robot be located at the center of the hip joint, so as to avoid unnecessary torque load due to the mass deviat...

Embodiment 3

[0039] This embodiment provides a robot, including: the robot joint in Embodiment 1 or the robot bionic hip joint in Embodiment 2.

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Abstract

The invention discloses a robot joint and relates to the technical field of robots. The robot joint comprises a rack, an output rod, an offset driving device, a pitching driving device, a universal structure and a rotation driving device, wherein the output rod can be driven by the offset driving device and the pitching driving device to rotate around a second axis and a third axis correspondingly; the universal structure can be driven by the rotation driving device to rotate around a first axis; during the rotation of the universal structure, the output rod is driven to rotate; and the second axis, the third axis and the first axis are perpendicular to one another in pairs and intersect at one point. The invention further provides a robot bionic hip joint which comprises two robot joints, wherein the two robot joints are fixedly connected and symmetrically arranged. The invention further provides a robot which comprises the robot joint or the robot bionic hip joint. The robot joint, the robot bionic hip joint and the robot provided by the invention are high in flexibility.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot joint, a robot bionic hip joint and a robot. Background technique [0002] Bionic hip joints are widely used in legged robots such as quadruped robots and humanoid robots. The bionic hip joint can greatly improve the movement flexibility of the leg-footed robot, enabling it to adapt to more complex terrain environments. Animals in nature, such as cheetahs, antelopes and humans, have three rotational degrees of freedom in the hip joints of each leg , the three rotational degrees of freedom take the contact point between the femur and the hip joint as the center of rotation. If the biped legs are considered as a whole, there are two femurs that rotate around the hip joint, and there are 6 degrees of freedom in total. Similarly, considering the forelimb or hindlimb of a quadruped as a whole, there are also 6 degrees of freedom. However, the existing bionic hip joints have p...

Claims

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Application Information

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IPC IPC(8): B25J17/00B25J9/10
CPCB25J17/00B25J9/10
Inventor 石青王若超高子航贾广禄余张国
Owner BEIJING INSTITUTE OF TECHNOLOGYGY