Anthropomorphic waist structure of a humanoid robot

Abstract

The present invention discloses an anthropomorphic waist structure of a humanoid robot in the field of robotics, comprising a robot waist support assembly, wherein a hip-leg base 1 and a hip-leg base 2 are provided below the robot waist support assembly, wherein the hip-leg base 1 is adjacent to the hip-leg base 2, and a movable support seat is installed on one side wall of the hip-leg base 1. The present invention arranges three groups of movable push rods 1 and 2 in a triangular structure between the robot waist support assembly and the hip-leg base 1 and the hip-leg base 2, so that the movable push rods 1 and 2 can be synchronously extended and shortened to achieve the increase and shortening of the robot to match external obstacles, which is more practical. By controlling the movement of the movable push rod 1 in one group, the robot waist support assembly can be pushed to perform a twisting movement to simulate the movement of the human waist, which is more realistic. Moreover, the interior of the robot is a hollow structure, which is convenient for the layout of the power component, and is extremely practical.

Description

Technical Field

[0001] The present invention relates to the field of robots, in particular to an anthropomorphic waist structure of a humanoid robot. Background Art

[0002] Existing humanoid robots, when simulating human waist movements, mostly achieve the effect of twisting the waist by controlling the rotational motion with a built-in rotary motor. However, these movements lack realism, cannot control the robot's height increase or decrease, and occupy the central space of the waist, which is not conducive to the layout of the power components for hip and leg movements. Therefore, those skilled in the art have provided a humanoid waist structure for a humanoid robot to address the problems raised in the above background art. Summary of the Invention

[0003] The purpose of the present invention is to provide an anthropomorphic waist structure for a humanoid robot to solve the problems raised in the above background technology.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A humanoid robot anthropomorphic waist structure, including a robot waist support assembly, a hip-leg base 1 and a hip-leg base 2 are arranged below the robot waist support assembly, the hip-leg base 1 is close to the hip-leg base 2, and a movable support seat is installed on one side wall of the hip-leg base 1, three groups of movable push rods 1 and movable push rods 2 are connected on both sides above the movable support seat and between the hip-leg base 2 and the bottom of the robot waist support assembly, the movable push rod 1, the movable push rod 2 and the bottom of the robot waist support assembly form a triangular connection structure, the movable push rod 1 and the movable push rod 2 are provided with movable ball heads at both ends, and the outer periphery of the movable ball head is provided with a ball joint seat that is installed in cooperation with the robot waist support assembly, the hip-leg base 2 and the movable support seat.

[0006] As a further solution of the present invention: the ball joint seat includes a spherical movable base, a movable cover body arranged on one side of the spherical movable base, a spherical cavity for accommodating the movable ball head integrally formed at the junction of the spherical movable base and the movable cover body, and a limiting movable groove opened in the spherical cavity inside the spherical movable base.

[0007] As a further solution of the present invention: the movable ball head is connected to the movable push rod 1 and the movable push rod 2 by screws, and the end of the movable ball head is fixedly connected to a limit block placed inside the limit movable groove.

[0008] As a further solution of the present invention: the hip-leg base 1 is connected to the hip-leg base 2 by screws, the ball joint seat is interference-connected with the robot waist support assembly and the hip-leg base 2, and the hinge seat below the robot waist support assembly is tilted.

[0009] As a further solution of the present invention: the articulated seat is connected to the movable support seat via screws, and the movable support seat is connected to the hip-leg base via screws.

[0010] As a further solution of the present invention: the movable push rod 1 and the movable push rod 2 are both electric push rods, and the movable push rod 1 and the movable push rod 2 in one group are arranged in the opposite direction.

[0011] As a further solution of the present invention: the movable push rod 1 and the movable push rod 2 are connected to the robot waist support assembly, hip leg base 1 and the hip leg base 2 through a ball joint seat and the movable ball head ball joint, and are limited by the limit block and the limit movable groove.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The present invention provides three sets of triangular-structured movable push rods 1 and 2 between the robot's waist support assembly and the hip-leg base 1 and the hip-leg base 2. The movable push rods 1 and 2 can be extended and shortened synchronously to increase or decrease the height of the robot to match external obstacles, which is more practical. By controlling the movement of movable push rod 1 in one set, the robot's waist support assembly can be pushed to perform twisting movement to simulate the movement of the human waist, making the movement more realistic. Moreover, the hollow structure inside the robot facilitates the layout of the power assembly, making it extremely practical.

[0014] 2. The present invention can provide a limit for the movement of the movable ball head inside the ball joint seat by cooperating with the limit movable groove and the limit block, thereby avoiding loss of center of gravity due to excessive movement, and protecting the robot's waist movement well. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention;

[0016] Figure 2 It is a back view structural diagram of the present invention;

[0017] Figure 3 For the present invention Figure 1 A partial enlarged view of the middle movable support seat;

[0018] Figure 4 It is a cross-sectional view of the ball joint seat in the present invention.

[0019] In the figure: 1. Robot waist support assembly; 2. Hip and leg base 1; 3. Hip and leg base 2; 4. Movable support seat; 5. Ball joint seat; 501. Spherical movable base; 502. Movable cover body; 503. Spherical cavity; 504. Limit movable groove; 6. Movable push rod 1; 7. Movable push rod 2; 8. Movable ball head; 801. Limit block. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] See also Figures 1 to 4 In an embodiment of the present invention, a humanoid robot anthropomorphic waist structure includes a robot waist support assembly 1, a hip-leg base 2 and a hip-leg base 2 3 are arranged below the robot waist support assembly 1, the hip-leg base 1 2 is close to the hip-leg base 2 3, and a movable support seat 4 is installed on one side wall of the hip-leg base 1 2, and three groups of movable push rods 1 6 and movable push rods 2 7 are connected between the upper sides of the movable support seat 4 and the hip-leg base 2 3 and the bottom of the robot waist support assembly 1. The movable push rod 1, the movable push rod 2 7 and the bottom of the robot waist support assembly 1 form a triangular connection structure, and both ends of the movable push rod 1 6 and the movable push rod 2 7 are provided with movable ball heads 8, and the periphery of the movable ball head 8 is provided with a ball joint seat 5 that is installed in cooperation with the robot waist support assembly 1, the hip-leg base 2 3 and the movable support seat 4.

[0022] By adopting the above technical solution, by setting three groups of triangular-structured movable push rods 1 6 and movable push rods 2 7 between the robot's waist support component 1 and the hip-leg base 1 2 and the hip-leg base 2 3, the movable push rods 1 6 and movable push rods 2 7 can be synchronously extended and shortened to achieve the increase and shortening of the robot to match external obstacles, which is more practical. By controlling the movement of the movable push rod 1 6 in one group, the robot's waist support component 1 can be pushed to perform a twisting movement to simulate the movement of the human waist, which is more realistic. Moreover, its interior is a hollow structure, which is convenient for the layout of the power component and is extremely practical.

[0023] Among them, the ball joint seat 5 includes a spherical movable base 501, a movable cover body 502 arranged on one side of the spherical movable base 501, a spherical cavity 503 integrally formed at the junction of the spherical movable base 501 and the movable cover body 502 for accommodating the movable ball head 8, and a limiting movable groove 504 opened in the spherical cavity 503 inside the spherical movable base 501; the movable ball head 8 and the movable push rod 1 6 and the movable push rod 2 7 are all connected by screws, and the end of the movable ball head 8 is fixedly connected to a limiting block 801 placed inside the limiting movable groove 504.

[0024] In the above technical solution, the limiting movable groove 504 and the limiting block 801 can be used to provide a limit for the movement of the movable ball head 8 inside the ball joint seat 5, avoiding loss of center of gravity due to excessive movement, and protecting the robot's waist movement well.

[0025] Among them, the hip-leg base 1 2 is connected to the hip-leg base 2 3 by screws, the ball joint seat 5 is interference connected with the robot waist support assembly 1 and the hip-leg base 2 3, and the hinge seat below the robot waist support assembly 1 is tilted, the hinge seat is connected to the movable support seat 4 by screws, and the movable support seat 4 is connected to the hip-leg base 1 2 by screws.

[0026] In the above technical solution, the ball joint seat 5 can be fixedly installed to provide ball joint support for the movable ball head 8.

[0027] In this embodiment, the movable push rod 1 6 and the movable push rod 2 7 are both electric push rods, and the movable push rod 1 6 and the movable push rod 2 7 in one group are arranged in opposite directions.

[0028] Among them, the movable push rod 1 6 and the movable push rod 2 7 are all connected to the robot waist support assembly 1, hip and leg base 1 2 and the hip and leg base 2 3 through a ball joint seat 5 and the movable ball head 8, and are limited by the limit block 801 and the limit movable groove 504.

[0029] The working principle of the present invention is: the movable push rod 1 6 and the movable push rod 2 7 can be extended and shortened synchronously to achieve the increase and shortening of the robot to match external obstacles, which is more practical. By controlling the movement of the movable push rod 1 6 in one group, the robot's waist support component 1 can be pushed to perform a twisting movement to simulate the movement of the human waist, which is more realistic. Moreover, its interior is a hollow structure, which is convenient for the layout of the power component and is extremely practical.

[0030] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A humanoid robot waist structure, comprising a robot waist support assembly (1), characterized in that: A hip-leg base 1 (2) and a hip-leg base 2 (3) are provided below the robot waist support assembly (1), the hip-leg base 1 (2) is adjacent to the hip-leg base 2 (3), a movable support seat (4) is installed on one side wall of the hip-leg base 1 (2), three groups of movable push rods 1 (6) and movable push rods 2 (7) are connected on both sides above the movable support seat (4) and between the hip-leg base 2 (3) and the bottom of the robot waist support assembly (1), the movable push rod 1 (6), the movable push rod 2 (7) and the bottom of the robot waist support assembly (1) form a triangular connection structure, the movable push rod 1 (6) and the movable push rod 2 (7) are provided with movable ball heads (8) at both ends, and a ball joint seat (5) is provided on the periphery of the movable ball head (8) to be installed in conjunction with the robot waist support assembly (1), the hip-leg base 2 (3) and the movable support seat (4); The movable ball head (8) is connected to the movable push rod 1 (6) and the movable push rod 2 (7) by screws, and the end of the movable ball head (8) is fixedly connected to a limit block (801) placed inside the limit movable groove (504); The hip-leg base 1 (2) is connected to the hip-leg base 2 (3) by screws, the ball joint seat (5) is interference-connected with the robot waist support assembly (1) and the hip-leg base 2 (3), and the ball joint seat (5) below the robot waist support assembly (1) is tilted; The movable push rod 1 (6) and the movable push rod 2 (7) are connected to the robot waist support assembly (1), the hip leg base 1 (2) and the hip leg base 2 (3) through a ball joint seat (5) and the movable ball head (8), and are limited by the cooperation of the limit block (801) and the limit movable groove (504); The ball joint seat (5) comprises a spherical movable base (501), a movable cover (502) arranged on one side of the spherical movable base (501), a spherical cavity (503) integrally formed at the junction of the spherical movable base (501) and the movable cover (502) for accommodating the movable ball head (8), and a limiting movable groove (504) provided in the spherical cavity (503) inside the spherical movable base (501).

2. The anthropomorphic waist structure of a humanoid robot according to claim 1, characterized in that: The ball joint seat (5) is connected to the movable support seat (4) via screws, and the movable support seat (4) is connected to the hip-leg base (2) via screws.

3. The anthropomorphic waist structure of a humanoid robot according to claim 1, characterized in that: The movable push rod 1 (6) and the movable push rod 2 (7) are both electric push rods, and the movable push rod 1 (6) and the movable push rod 2 (7) in one group are arranged in the opposite direction.

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