Waist-hip joint integrated driving device of four-footed bionic robot

Abstract

The invention discloses a four-footed bionic robot waist and hip joint integrated driving device which comprises a waist joint assembly, a left hip joint assembly, a right hip joint assembly, a five-degree-of-freedom series connection structure of a waist roller, a waist yaw, a hip yaw, a hip roller and a hip pitching, the left hip joint assembly and the right hip joint assembly are symmetrically arranged, the adjacent waist and hip joints have the yaw degree of freedom, and the hip and knee adjacent joints have the pitching degree of freedom. The yaw axis, the rolling axis and the pitch axis of the hip joint intersect at one point, and the waist rolling motor, the waist yaw motor, the hip yaw motor and the hip rolling motor are connected through flange end face bolts and can be independently detached without damaging the assembly relation of other assemblies. The distance between the left hip joint and the right hip joint is smaller than the waist width. The two-degree-of-freedom motion of the waist joint and the three-degree-of-freedom motion of the hip joint of the four-footed bionic robot can be achieved, and the joint motors can be independently detached. The assembly manufacturability and maintainability of the robot are improved while high integration of the waist and hip joints is achieved.

Description

Technical Field

[0001] The present invention relates to a bionic robot joint drive technology, and is particularly suitable for a waist and hip joint integrated drive device of a medium to large quadruped robot. Background Art

[0002] In recent years, legged bionic robots driven by joint motor modules have developed rapidly. The grease of the harmonic reducer in the joint motor module will deteriorate after being used for a period of time or being out of use for a long time, causing the harmonic reducer to not operate normally. Therefore, regular maintenance of the joint motor is necessary.

[0003] For medium-to-large quadruped bionic robots, hoisting is commonly required during assembly, inspection, or repair. To achieve highly integrated drive systems, some lightweight quadruped robots currently require complete disassembly of joint motors during repair and maintenance, disrupting the connections between the torso, waist, and legs. This not only results in longer repair and maintenance cycles, but also limits the number of times threads on some aluminum alloy parts can be disassembled and reassembled. Summary of the Invention

[0004] The present invention addresses the above issues by providing a motor-driven integrated waist-hip joint drive device for medium- to large-sized quadruped bionic robots. This device enables two-degree-of-freedom motion at the waist joint and three-degree-of-freedom motion at the hip joint, and the joint motors are independently removable. While achieving highly integrated waist-hip joints, it also improves the robot's assembly processability and maintainability, resolving the maintenance challenges currently faced by medium- to large-sized quadruped bionic robots.

[0005] The technical solution adopted by the present invention is an integrated waist and hip joint drive device for a quadruped bionic robot, including: a waist joint component, which realizes rotational movement in the roll and yaw directions in sequence; left and right hip joint components, which are arranged in mirror symmetry, and each realizes rotational movement in the yaw, roll and pitch directions in sequence; the waist joint component and the hip joint component are integrated into one to form a five-degree-of-freedom series structure, and the order of degrees of freedom is: waist roll → waist yaw → hip yaw → hip roll → hip pitch; the yaw, roll and pitch axes of the hip joint intersect at one point; and each joint motor is independently and detachably connected through a modular interface.

[0006] Preferably, the waist joint assembly includes: a rolling mechanism: a trunk connecting member is fixed to the waist rolling joint shaft and is rotatably connected to the waist joint frame through a first cross roller bearing; a housing of the waist rolling joint motor is fixed to the waist joint frame, and an output end drives the waist rolling joint shaft; Yaw mechanism: The waist joint frame is fixed to the waist yaw joint shaft and is rotationally connected to the waist rib plate through the second cross roller bearing; the housing of the waist yaw joint motor is fixed to the waist rib plate, and the output end drives the waist joint frame.

[0007] Preferably, the left hip joint assembly includes: a yaw mechanism: a waist plate fixed to the left hip yaw joint shaft, and rotatably connected to the left hip joint frame through a third cross roller bearing; a housing of the left hip yaw joint motor fixed to the waist plate, and an output end driving the left hip joint frame; Roll mechanism: The left hip joint frame fixes the harmonic reducer rigid pulley, and the flexspline connects to the left hip roll joint shaft and the left hip pitch joint motor; the housing of the left hip roll joint motor is fixed to the left hip joint frame, and the output end drives the flexspline through the harmonic reducer wave generator; Pitch mechanism: The output end of the left hip pitch joint motor directly drives the thigh.

[0008] Preferably, each joint motor is fixed by flange end face bolts, and during disassembly, only the corresponding bolts need to be released without affecting the connection relationship of other components.

[0009] Preferably, each joint is provided with a mechanical limiting device, and the limiting contact surface is provided with elastic shock-absorbing rubber.

[0010] Preferably, the lateral spacing between the left and right hip joint components is smaller than the width of the waist joint, forming a compact mammalian bionic structure.

[0011] Preferably, in the hip joint roll mechanism, the flexible wheel of the harmonic reducer is coaxially connected to the left hip roll joint shaft through a spline.

[0012] The beneficial effects of the present invention are as follows: (1) The waist-hip joint integrated drive device applied by the present invention has a large-angle motion space in the roll and yaw directions. This design can enable the robot to have excellent turning and lateral movement capabilities. The hip joint uses a technical solution with three joint axis lines at the same point, and the hip joint can move forward and backward in a large range in the pitch direction. This design can enable the robot to cross higher obstacles. (2) The waist-hip joint integrated drive device applied by the present invention refers to the movement characteristics of the mammalian quadruped structure. Compared with the reptilian quadruped structure, the distance between the left and right hip joints is shorter, which enables the robot to have a higher travel speed. (3) The waist-hip joint integrated drive device applied by the present invention has a limit device set on each joint, and the surface of the limit device is installed with elastic shock-absorbing rubber. This prevents the harmonic reducer in the joint motor from being damaged by impact when the robot is out of control. (4) The waist-hip joint integrated drive device of the present invention can independently disassemble the waist roll joint motor, waist yaw joint motor, hip yaw joint motor, and hip roll joint motor without destroying the connection state of each joint component of the robot. This solution solves the problem of difficult repair and maintenance of the joint motors of medium and large bionic robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional diagram of the structure of the present invention.

[0014] Figure 2 This is a cross-sectional view of the waist joint assembly of the present invention.

[0015] Figure 3 This is an exploded view of the waist joint assembly of the present invention.

[0016] Figure 4 This is a cross-sectional view of the hip joint component of the present invention.

[0017] Figure 5 This is an exploded view of the hip joint component of the present invention.

[0018] Figure 6 Schematic diagram of the device of the present invention in a robot.

[0019] Markings in the figure: 100- waist joint assembly, 101- trunk connection frame, 102- waist roll joint shaft, 103- waist roll joint bearing inner retaining ring, 104- first cross roller bearing, 105- waist roll joint bearing outer retaining ring, 106- waist joint frame, 106a- waist joint frame surface, 106b- waist joint frame surface, 107- waist roll joint limiting bracket, 108- first waist roll joint limiting block, 109- second waist roll joint limiting block, 110- waist roll joint motor, 1 10a- waist roll joint motor input end face, 110b- waist roll joint motor output end face, 111- first waist roll joint limiting bracket pad, 112- second waist roll joint limiting bracket pad, 113- waist yaw joint shaft, 114- second cross roller bearing, 115- waist rib plate, 115a- waist rib plate surface, 115b- waist rib plate surface, 116- waist yaw joint bearing outer retaining ring, 117- waist yaw joint limiting bracket, 118- first waist yaw joint limiting bracket pad, 119 -Second waist yaw joint limiting bracket pad, 120-waist yaw joint motor, 120a-waist yaw joint motor input end face, 120b-waist yaw joint motor output end face, 200-left hip joint assembly, 201-left hip yaw joint shaft, 202-third cross roller bearing, 203-left hip joint frame, 203a-left hip joint frame surface, 204-left hip yaw joint bearing outer retaining ring, 205-left hip yaw joint bearing inner retaining ring, 206-first left hip yaw joint limiting block, 20 7-Second left hip yaw joint limit block, 208-Deep groove ball bearing, 209-Left hip roll joint shaft, 210-Left hip yaw joint motor, 210a-Left hip yaw joint motor input end surface, 210b-Left hip yaw joint motor output end surface, 211-Left hip pitch joint motor, 211a-Left hip pitch joint motor output end surface, 212-Left hip roll joint bearing inner retaining ring, 213-Left hip roll joint bearing outer retaining ring, 214-Harmonic reducer, 214a-Harmonic reducer rigid wheel, 214b-flexible wheel of harmonic reducer, 214c-wave generator of harmonic reducer, 215-left hip roll joint motor, 215a-input end of left hip yaw joint motor, 215b-output end face of left hip yaw roll motor, 216-left hip roll joint limit block, 217-first left hip roll joint limit block and pad, 218-second left hip roll joint limit block and pad. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0021] In response to the problems described in the background technology, the present invention provides a motor-driven integrated waist and hip joint drive device for a large-scale quadruped bionic robot.

[0022] The integrated lumbar-hip joint drive device of the present invention comprises a lumbar joint assembly 100, a left hip joint assembly 200, and a right hip joint assembly 300. The device is characterized in that the lumbar joint assembly 100 can sequentially achieve rotational motion in roll and yaw, while the left hip joint assembly 200 and the right hip joint assembly 300 can sequentially achieve rotational motion in yaw, roll, and pitch.

[0023] The waist joint assembly 100 rotates in the roll direction, wherein the torso connector 101 is fixedly connected to the waist roll joint shaft 102, the waist roll joint bearing inner retaining ring 103 is fixedly connected to the waist roll joint shaft 102, and the waist roll joint bearing outer retaining ring 105 is fixedly connected to the waist joint frame 106. The waist roll joint shaft 102 rotates relative to the waist joint frame 106 via the first cross roller bearing 104. The waist roll joint motor input end face 110a is fixedly connected to the waist joint frame face 106a, and the waist roll joint motor output end face 110b is fixedly connected to the waist roll joint shaft face 102a. When the waist roll joint motor 110 is in operation, the waist joint assembly 100 is moved in the roll direction.

[0024] The waist joint assembly 100 rotates in the yaw direction, wherein the waist joint frame 106 is fixed to the waist yaw joint shaft connection 113, the waist rib plate 115 is fixedly connected to the waist yaw joint bearing outer retaining ring 116, and the waist joint frame 106 rotates relative to the waist rib plate 115 via the second cross roller bearing 114. The waist yaw joint motor input end surface 120a is fixedly connected to the waist rib plate surface 115a, and the waist yaw joint motor output end surface 120b is fixedly connected to the waist joint frame surface 106b. When the waist yaw joint motor 120 is in operation, the waist joint assembly 100 moves in the yaw direction.

[0025] The left hip joint assembly 200 rotates in the yaw direction, wherein the waist plate 115 is connected and fixed to the left hip yaw joint shaft 201, the left hip joint frame 203 is connected and fixed to the left hip roll joint bearing outer retaining ring 204, and the left hip yaw joint shaft 201 is connected and fixed to the left hip yaw joint bearing inner retaining ring 205. The waist plate 115 generates relative rotation with the left hip joint frame 203 through the third cross roller bearing 202. The left hip yaw joint motor input end face 210a is connected and fixed to the waist plate surface 115b, and the left hip yaw joint motor output end face 210b is connected and fixed to the left hip joint frame surface 203a. When the left hip joint motor 210 is in operation, the yaw direction movement of the left hip joint assembly 200 is realized.

[0026] The left hip joint assembly 200 rotates in the roll direction, wherein the left hip joint frame 203 is connected and fixed to the left hip roll joint bearing outer retaining ring 213, the left hip joint frame 203 is connected and fixed to the harmonic reducer rigid wheel 214a, and the harmonic reducer flexible wheel 214b is connected and fixed to the left hip pitch joint motor 211, the left hip roll joint shaft 209, and the left hip roll joint bearing inner retaining ring 212 in sequence. The left hip yaw joint motor input end 215a is connected and fixed to the harmonic reducer wave generator 214c, and the left hip yaw roll motor output end face 215b is connected and fixed to the left hip joint frame 203. When the left hip roll joint motor 215 is in operation, the roll direction movement of the left hip joint assembly 200 is realized.

[0027] The left hip joint assembly 200 rotates in the pitch direction, and the output end surface 211a of the left hip pitch joint motor is fixedly connected to the right rear thigh 401. When the left hip pitch joint motor 210 operates, the pitch direction movement of the left hip joint assembly 200 is realized.

[0028] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A quadruped bionic robot waist and hip joint integrated drive device, characterized in that: include: The waist joint assembly (100) sequentially realizes rotational motion in the roll and yaw directions; the left hip joint assembly (200) and the right hip joint assembly (300) are arranged in mirror symmetry, and each sequentially realizes rotational motion in the yaw, roll and pitch directions; the waist joint assembly (100) and the hip joint assembly (200, 300) are integrated into one body to form a five-degree-of-freedom series structure, and the degree of freedom sequence is: waist roll → waist yaw → hip yaw → hip roll → hip pitch; the yaw, roll and pitch axes of the hip joint intersect at one point; and each joint motor (110, 120, 210, 215) is independently and detachably connected via a modular interface.

2. The device according to claim 1, characterized in that: The waist joint assembly (100) comprises: Rolling mechanism: a trunk connecting member (101) is fixed to the waist rolling joint rotating shaft (102), and is rotationally connected to the waist joint frame (106) via a first cross roller bearing (104); a housing of a waist rolling joint motor (110) is fixed to the waist joint frame (106), and an output end drives the waist rolling joint rotating shaft (102); Yaw mechanism: The waist joint frame (106) is fixed to the waist yaw joint shaft (113), and is rotationally connected to the waist rib plate (115) through a second cross roller bearing (114); the housing of the waist yaw joint motor (120) is fixed to the waist rib plate (115), and the output end drives the waist joint frame (106).

3. The device according to claim 2, characterized in that: The left hip joint assembly (200) comprises: Yaw mechanism: the waist rib plate (115) is fixed to the left hip yaw joint shaft (201), and is rotationally connected to the left hip joint frame (203) through the third cross roller bearing (202); the housing of the left hip yaw joint motor (210) is fixed to the waist rib plate (115), and the output end drives the left hip joint frame (203); Roll mechanism: the left hip joint frame (203) fixes the harmonic reducer rigid wheel (214a), and the flexible wheel (214b) is connected to the left hip roll joint shaft (209) and the left hip pitch joint motor (211); the housing of the left hip roll joint motor (215) is fixed to the left hip joint frame (203), and the output end drives the flexible wheel (214b) through the harmonic reducer wave generator (214c); Pitch mechanism: The output end of the left hip pitch joint motor (211) directly drives the thigh (401).

4. The device according to claim 3, characterized in that: Each joint motor (110, 120, 210, 215) is connected and fixed by flange end face bolts. When disassembling, only the corresponding bolts need to be released without affecting the connection relationship of other components.

5. The device according to any one of claims 1 to 4, characterized in that: Each joint is provided with a mechanical limiting device (107-109, 117, 206-207, 216), and a limiting contact surface is provided with elastic shock-absorbing rubber.

6. The device according to claim 5, characterized in that: The lateral spacing between the left and right hip joint components (200, 300) is smaller than the width of the waist joint, forming a compact mammalian bionic structure.

7. The device according to claim 3, characterized in that: In the hip joint roll mechanism, the flexible wheel (214b) of the harmonic reducer (214) and the left hip roll joint shaft (209) are coaxially connected via a spline.

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