A humanoid robot trunk waist rotation linkage adjusting device

Abstract

This invention relates to the field of humanoid robot technology and discloses a humanoid robot torso waist rotation linkage adjustment device, including a torso lower mounting plate, a central rotation axis, an intermediate connecting bracket, a left hip connecting seat, and a right hip connecting seat. The torso lower mounting plate is horizontally disposed at the bottom of the robot torso. The central rotation axis is arranged vertically and its upper end is coaxially fixedly connected to the lower surface of the torso lower mounting plate. The intermediate connecting bracket is fitted into the middle of the central rotation axis and rotatably connected to the central rotation axis. The left hip connecting seat and the right hip connecting seat are symmetrically arranged on both sides of the lower end of the intermediate connecting bracket. This invention achieves synchronous adjustment of torso waist rotation and lower limb posture through a mechanical linkage structure, which can adjust the lower limb posture in time during waist rotation, effectively counteract the center of gravity shift caused by torso rotation, and improve the robot's balance stability in dynamic motion scenarios.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, specifically to a humanoid robot torso waist rotation linkage adjustment device. Background Technology

[0002] The waist joint of a humanoid robot is the core hub connecting the torso and lower limbs, and plays a key role in transmitting movement, adjusting the center of gravity, and maintaining balance. Currently, most mainstream humanoid robots adopt a single-degree-of-freedom serial rotation structure for their waists. A single drive motor directly drives the torso to rotate relative to the hips, while the lower limb posture control and waist rotation are scheduled by separate control systems.

[0003] In the existing technology, the independent design of waist rotation and lower limb posture control makes it impossible for the robot to achieve coordinated adjustment of the torso and lower limbs during dynamic movement. When the waist performs a rapid rotation, the center of gravity of the torso will shift momentarily, while the lower limb posture adjustment is significantly delayed. This makes the robot unable to maintain balance when turning, going up or down slopes, or performing dynamic operation tasks, and it is prone to posture swaying or even tipping over. Summary of the Invention

[0004] The purpose of this invention is to provide a humanoid robot torso waist rotation linkage adjustment device to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a humanoid robot torso waist rotation linkage adjustment device, including a torso lower mounting plate, a central rotation shaft, an intermediate connecting bracket, a left hip connecting seat and a right hip connecting seat; the torso lower mounting plate is horizontally set at the bottom of the robot torso, the central rotation shaft is arranged in a vertical direction and its upper end is coaxially fixedly connected to the lower surface of the torso lower mounting plate, the intermediate connecting bracket is fitted into the middle of the central rotation shaft and rotatably connected to the central rotation shaft, and the left hip connecting seat and the right hip connecting seat are symmetrically arranged on the lower ends of the two sides of the intermediate connecting bracket.

[0006] Preferably, a rotary drive motor and a reduction mechanism are fixed on the upper surface of the lower torso mounting plate; the output shaft of the rotary drive motor is fixedly connected to the input end of the reduction mechanism, and the output end of the reduction mechanism passes through the lower torso mounting plate and is coaxially fixedly connected to the upper end of the central rotation shaft.

[0007] Preferably, a rotation angle sensor is fitted on the outer side of the central rotating shaft; the rotation angle sensor is fixed to the upper surface of the intermediate connecting bracket, and the detection end of the rotation angle sensor is in contact with the outer wall of the central rotating shaft.

[0008] Preferably, a torque sensor is connected in series between the output end of the deceleration mechanism and the central rotating shaft; the upper end of the torque sensor is fixedly connected to the output end of the deceleration mechanism, and the lower end of the torque sensor is fixedly connected to the upper end of the central rotating shaft.

[0009] Preferably, a three-dimensional force sensor is fixed to the upper surface of both the left hip connector and the right hip connector; the upper end of the three-dimensional force sensor is fixedly connected to the lower surface of the intermediate connecting bracket.

[0010] Preferably, a synchronization controller is fixed to the side of the intermediate connecting bracket; the input end of the synchronization controller is electrically connected to the rotation angle sensor, the torque sensor, and the three-dimensional force sensor respectively, and the output end of the synchronization controller is electrically connected to the rotation drive motor.

[0011] Preferably, a linkage assembly is provided between the lower end of the central rotating shaft and the left hip connecting seat and the right hip connecting seat respectively; one end of the linkage assembly is hinged to the side wall of the lower end of the central rotating shaft, and the other end of the linkage assembly is hinged to the inner side wall of the left hip connecting seat and the right hip connecting seat respectively.

[0012] Preferably, an upper mounting base for the torso is fixed on the upper surface of the lower mounting plate; the upper end face of the upper mounting base for the torso is provided with multiple bolt connection holes for fixed connection with the upper part of the robot torso.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are: First, this invention achieves synchronous adjustment of torso and waist rotation and lower limb posture through a mechanical linkage structure. It can adjust the lower limb posture in a timely manner during waist rotation, effectively counteracting the center of gravity shift caused by torso rotation, and improving the robot's balance and stability in dynamic motion scenarios. At the same time, the setting of multi-dimensional sensors enables comprehensive perception of waist rotation status. Combined with the dynamic adjustment of the synchronous controller, it improves the control accuracy of waist rotation, making the robot's movement posture more natural and smooth, and enhancing its adaptability to complex terrain and diverse tasks.

[0014] Secondly, the present invention adopts a modular structural design, with reliable connections between components, facilitating installation, disassembly and maintenance, and can be adapted to various models of humanoid robot platforms. The linkage adjustment mechanism disperses the force on the waist joint, reduces the impact of rotational inertia on joint components, reduces joint wear, and helps extend the service life of the robot. In addition, the control method that combines electrical signal feedback and mechanical linkage optimizes the energy transfer path and reduces the overall energy consumption of the robot. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2This is one of the anatomical three-dimensional structural diagrams of the present invention; Figure 3 This is the second schematic diagram of the anatomical three-dimensional structure of the present invention; Figure 4 This is the third schematic diagram of the anatomical three-dimensional structure of the present invention; Figure 5 This is one of the three-dimensional structural schematic diagrams of the present invention; Figure 6 This is a second schematic diagram of the three-dimensional structure of the present invention.

[0016] The components include: 1. Upper torso mounting base; 2. Lower limb hip assembly; 3. Robotic arm assembly; 4. Waist rotation linkage adjustment device; 401. Left hip connecting seat; 402. Right hip connecting seat; 403. Central rotation shaft; 404. Intermediate connecting bracket; 405. Lower torso mounting plate; 406. Rotation drive motor; 407. Reduction mechanism; 5. Angle sensor; 6. Force sensor; 7. Synchronization controller. Detailed Implementation

[0017] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0018] Please see Figures 1-6 A humanoid robot torso waist rotation linkage adjustment device is disclosed. Based on the principle of coordinated control of mechanical linkage and electrical signal feedback, it realizes the synchronous adjustment of the humanoid robot torso waist rotation and lower limb posture. The upper torso mounting seat 1 is fixedly connected to the upper part of the robot torso, and the load of the torso is transferred to the lower torso mounting plate 405. When the robot needs to perform waist rotation, the synchronous controller 7 sends a control command to the rotary drive motor 406. The power output by the rotary drive motor 406 is reduced and increased in torque by the reduction mechanism 407, and drives the central rotation shaft 403 to rotate around the vertical axis, thereby driving the lower torso mounting plate 405 and the upper torso mounting seat 1 above to complete the rotational movement. While the central rotation shaft 403 rotates, the linkage assembly hinged to its lower side wall moves synchronously with the central rotation shaft 403, respectively pushing the left hip connecting seat 401 and the right hip connecting seat 402 to produce corresponding angular deflections, thereby driving the lower limb hip assembly 2 to adjust its posture to match the rotation direction of the torso, realizing the mechanical linkage between torso rotation and lower limb posture; the rotation angle sensor 5 detects the rotation angle of the central rotation shaft 403 in real time, the torque sensor monitors the torque change during the rotation drive process, and the three-dimensional force sensor 6 collects the force information between the left and right hip connecting seats and the intermediate connecting bracket 404; The real-time data collected by the various sensors are transmitted to the synchronous controller 7. The synchronous controller 7 processes and analyzes the data according to the preset control algorithm, dynamically adjusts the output power and speed of the rotary drive motor 406, and further optimizes the attitude adjustment range of the lower limb hip component 2 by combining the attitude compensation effect of mechanical linkage, so as to ensure that the center of gravity of the robot is always in a stable range during the waist rotation process, and achieves precise and stable waist rotation linkage adjustment.

[0019] How to use: S1. Overall installation of the device: The mounting base 1 on the torso is fixedly connected to the upper part of the robot torso with bolts. The left hip connecting base 401 and the right hip connecting base 402 are fixedly connected to the lower limb hip components 2 on both sides of the robot, respectively, to complete the mechanical integration of the device with the robot body.

[0020] S2. Electrical system connection: Connect the signal output terminals of the rotation angle sensor 5, torque sensor, and three-dimensional force sensor 6 to the corresponding input terminals of the synchronous controller 7, respectively. Connect the control terminal of the rotation drive motor 406 to the output terminal of the synchronous controller 7. Connect the power supply of the device and check the continuity of the electrical system.

[0021] S3. Initial system calibration: Start the robot control system. The synchronous controller 7 automatically collects the initial data of each sensor, records the zero position of the waist rotation and the initial angle of the lower limb hip component 2, and completes the zero point calibration and parameter initialization of the system.

[0022] S4. Linked Operation Control: When the robot performs the waist rotation task, the synchronous controller 7 receives the rotation command from the main controller, drives the rotary drive motor 406 to rotate the central rotation shaft 403, and at the same time drives the lower limb hip component 2 to perform synchronous posture adjustment through the linkage linkage assembly, so as to realize the linkage rotation of the torso and lower limbs.

[0023] S5. Operational Status Monitoring: During system operation, the synchronous controller 7 receives feedback data from each sensor in real time, continuously monitors the waist rotation angle, drive torque, and joint stress status. When abnormal parameters are detected, the drive strategy is automatically adjusted or an early warning signal is issued to ensure the safe operation of the device.

[0024] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A humanoid robot torso waist rotation linkage adjustment device, characterized in that: The system includes a lower torso mounting plate (405), a central rotating shaft (403), an intermediate connecting bracket (404), a left hip connecting seat (401), and a right hip connecting seat (402). The lower torso mounting plate (405) is horizontally positioned at the bottom of the robot's torso. The central rotating shaft (403) is arranged vertically and its upper end is coaxially and fixedly connected to the lower surface of the lower torso mounting plate (405). The intermediate connecting bracket (404) is fitted into the middle of the central rotating shaft (403) and is rotatably connected to the central rotating shaft (403). The left hip connecting seat (401) and the right hip connecting seat (402) are symmetrically arranged on both sides of the lower end of the intermediate connecting bracket (404).

2. The humanoid robot torso waist rotation linkage adjustment device according to claim 1, characterized in that: A rotary drive motor (406) and a reduction mechanism (407) are fixed on the upper surface of the underbody mounting plate (405); the output shaft of the rotary drive motor (406) is fixedly connected to the input end of the reduction mechanism (407), and the output end of the reduction mechanism (407) passes through the underbody mounting plate (405) and is coaxially fixedly connected to the upper end of the central rotation shaft (403).

3. The humanoid robot torso waist rotation linkage adjustment device according to claim 1, characterized in that: A rotation angle sensor (5) is fitted on the outside of the central rotating shaft (403); the rotation angle sensor (5) is fixed on the upper surface of the intermediate connecting bracket (404), and the detection end of the rotation angle sensor (5) is in contact with the outer wall of the central rotating shaft (403).

4. The humanoid robot torso waist rotation linkage adjustment device according to claim 1, characterized in that: A torque sensor is connected in series between the output end of the deceleration mechanism (407) and the central rotating shaft (403); the upper end of the torque sensor is fixedly connected to the output end of the deceleration mechanism (407), and the lower end of the torque sensor is fixedly connected to the upper end of the central rotating shaft (403).

5. The humanoid robot torso waist rotation linkage adjustment device according to claim 1, characterized in that: The upper surfaces of the left hip connector (401) and the right hip connector (402) are both fixed with three-dimensional force sensors (6); the upper end of the three-dimensional force sensor (6) is fixedly connected to the lower surface of the intermediate connecting bracket (404).

6. The humanoid robot torso waist rotation linkage adjustment device according to claim 1, characterized in that: The intermediate connecting bracket (404) has a synchronous controller (7) fixed on its side; the input end of the synchronous controller (7) is electrically connected to the rotation angle sensor (5), the torque sensor, and the three-dimensional force sensor (6) respectively, and the output end of the synchronous controller (7) is electrically connected to the rotary drive motor (406).

7. The humanoid robot torso waist rotation linkage adjustment device according to claim 1, characterized in that: Linkage rod assemblies are respectively provided between the lower end of the central rotating shaft (403) and the left hip connecting seat (401) and the right hip connecting seat (402); one end of the linkage rod assembly is hinged to the lower side wall of the central rotating shaft (403), and the other end of the linkage rod assembly is hinged to the inner side wall of the left hip connecting seat (401) and the right hip connecting seat (402).

8. The humanoid robot torso waist rotation linkage adjustment device according to claim 1, characterized in that: The upper surface of the lower torso mounting plate (405) is fixed with a torso upper mounting seat (1); the upper end face of the torso upper mounting seat (1) is provided with multiple bolt connection holes for fixed connection with the upper part of the robot torso.

Images