Hip structure of bionic robot

Abstract

The invention belongs to the field of biomimetic robots, and discloses a hip structure of a biomimetic robot, which comprises a pelvic bone supporting frame, the middle of the pelvic bone supporting frame is mounted on a waist structure, motor seats are arranged on the back of the pelvic bone supporting frame and close to two ends, and the motor seats are fixedly mounted on shells of side leg lifting motors. According to the hip structure of the bionic robot, the hip structure of the bionic robot can freely move in the X-degree-of-freedom direction, the Y-degree-of-freedom direction and the Z-degree-of-freedom direction through a connecting structure in which the two sets of side leg lifting motors, the two sets of front leg lifting motors and the two sets of leg rotating motors are in linkage step by step, and therefore the hip structure of the bionic robot can freely move in the X-degree-of-freedom direction, the Y-degree-of-freedom direction and the Z-degree-of-freedom direction; therefore, the hip motion state of the bionic robot is closer to the natural motion posture of human beings; and meanwhile, the balance of the bionic robot in the walking state and the standing state is greatly improved through the rotation action of the leg rotating motors on the legs.

Description

Technical Field

[0001] The invention relates to the technical field of bionic robots, and in particular to a buttocks structure of a bionic robot. Background Art

[0002] "Bionic robots" refer to robots that imitate living things and perform work that is characteristic of living things. In Western countries, mechanical pets are very popular. In addition, robots that imitate sparrows can be used for environmental monitoring and have broad development prospects. In the 21st century, humans will enter an aging society. The development of "humanoid robots" will make up for the serious shortage of young labor, solve social problems such as family services and medical care in an aging society, and open up new industries and create new employment opportunities.

[0003] At present, due to structural reasons, the movements of "humanoid robots" are very rigid, which results in the inability to control the center of gravity well when the robot walks and performs various movements. The balance and flexibility are affected and restricted to varying degrees, not to mention more difficult movements such as running and dancing. Therefore, it is necessary to develop a new hip structure based on the movement characteristics of human joints to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a hip structure of a bionic robot, aiming to solve the above-mentioned technical problems existing in the prior art.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: A hip structure of a bionic robot, comprising a pelvic support frame, wherein the middle part of the pelvic support frame is installed with a waist structure, a motor seat is arranged on the back of the pelvic support frame and near both ends, the motor seat is fixedly installed with the casing of a side leg-lifting motor, the output end of the side leg-lifting motor is fixedly installed with one side of a side leg-lifting joint, the two side leg-lifting joints are symmetrically arranged with the center of the pelvic support frame as the origin, the side of the side leg-lifting joint away from the center of the pelvic support frame is fixedly installed with the casing of the positive leg-lifting motor, the output end of the positive leg-lifting motor is fixedly installed with the top of the fixed positive leg-lifting joint, the two positive leg-lifting joints are symmetrically arranged with the center of the pelvic support frame as the origin, the bottom of the positive leg-lifting joint is fixedly installed with the casing of the leg-swivel motor, a protective structure is arranged on the outside of the pelvic support frame, and a hip limit structure for limiting the left-right movement of the waist structure is arranged on the top; With reference to the Cartesian coordinate system, the axis of the output end of the side leg-lifting motor coincides with the Y axis, the axis of the output end of the forward leg-lifting motor coincides with the X axis, and the axis of the output end of the leg-rotating motor coincides with the Z axis.

[0006] Furthermore, the protective structure includes an external frame support and a pelvic back cover, the external frame support is in a "heart" shape, the pelvic support frame is in a "starfish" shape with five connecting ends, the external frame support cover is arranged on the outside of the pelvic support frame, the left and right ends and the left and right ends of the bottom of the pelvic support frame are respectively fixedly installed on the inner wall of the external frame support, the pelvic back cover is fixedly installed in the middle of the back side of the external frame support, and the middle of the top end of the pelvic back cover is fixedly installed to the connecting end of the top of the pelvic support frame.

[0007] Furthermore, a support fixture is fixedly installed on the middle part of the back side of the pelvic rear cover, and the support fixture is used for assembly during the production process and for traction during use.

[0008] Furthermore, the hip limiting structure includes a cross bar support seat, a waist support cross bar, a hip support limiting ring and two cross bar support columns. A plug-in slot is provided in the middle of the pelvic support frame, and the bottom of the cross bar support seat is fixedly installed inside the plug-in slot. A movable hole is opened in the middle of the cross bar support seat, and the movable hole is arranged along the X-axis direction. The waist support cross bar is movably connected to the inside of the movable hole. The bottom ends of the two cross bar support columns are respectively fixedly installed on the two ends of the waist support cross bar, and the top ends of the cross bar support columns at the two ends are respectively fixedly installed on the middle part in front of the hip support limiting ring, and the rear end of the hip support limiting ring is fixedly installed on the pelvic back cover.

[0009] Furthermore, the front of the hip support limiting ring is a "V"-shaped structure, which is annular as a whole and is located directly above the pelvic support frame, and the waist structure is located inside the hip support limiting ring.

[0010] Furthermore, a lumbar support base is fixedly mounted on the top of the crossbar support seat, and the top of the lumbar support base is fixedly mounted to the lumbar structure.

[0011] Furthermore, various parts of the hip structure of the bionic robot are fixed to each other by fixing pins.

[0012] Furthermore, the side leg-lifting joint is a ring structure formed by assembling two semicircular structures, wherein one of the semicircular structures is fixedly mounted to the output end of the side leg-lifting motor.

[0013] Furthermore, each part of the hip structure of the bionic robot is printed by a three-dimensional printer.

[0014] Furthermore, the hip support limiting ring is elastic.

[0015] The beneficial effects of the present invention are: The present invention uses a connection structure that is linked step by step through two groups of side leg-lifting motors, two groups of front leg-lifting motors and two groups of leg-swivel motors through the hip structure. That is, with the side leg-lifting motor and the pelvic support frame as base points, the front leg-lifting motor is fixed to the output shaft of the side leg-lifting motor through the side leg-lifting joint, and then the leg-swivel motor is fixed to the output shaft of the front leg-lifting motor through the front leg-lifting joint, and the output shaft of the leg-swivel motor is connected to the leg structure, thereby realizing the free movement of the hip structure of the bionic robot in the three degrees of freedom of X, Y, and Z directions, so that the hip movement state of the bionic robot is closer to the natural movement posture of humans; at the same time, through the rotation of the leg by the leg-swivel motor, the balance of the bionic robot in walking and standing states is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional decomposition structure of the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the pelvic support frame.

[0017] Attached figure numbers; among them, 1, fixing pin; 2, supporting fixture; 3, pelvic back cover; 4, lumbar support base; 5, lumbar support cross bar; 6, cross bar support seat; 601, jumping hole; 7, cross bar support column; 8, hip support limit ring; 9, frame external support; 10, pelvic support frame; 1001, connecting end; 1002, plug-in slot; 1003, motor seat; 11, side leg lifting joint; 12, front leg lifting joint; 13, side leg lifting motor; 14, front leg lifting motor; 15, leg rotation motor. DETAILED DESCRIPTION

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in combination with the drawings and the description of the embodiments or the prior art. Obviously, the following description of the structure of the drawings is only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0019] Example: like Figure 1-3As shown, this embodiment provides a hip structure of a bionic robot, including a pelvic support frame 10, the middle part of the pelvic support frame 10 is installed with the waist structure, the back of the pelvic support frame 10 and near both ends are provided with a motor seat 1003, the motor seat 1003 is fixedly installed with the casing of the side leg lifting motor 13, the output end of the side leg lifting motor 13 is fixedly installed with one side of the side leg lifting joint 11, the two side leg lifting joints 11 are symmetrically arranged with the center of the pelvic support frame 10 as the origin, the side of the side leg lifting joint 11 away from the center of the pelvic support frame 10 is fixedly installed with the casing of the positive leg lifting motor 14, the output end of the positive leg lifting motor 14 is fixedly installed with the top of the fixed positive leg lifting joint 12, the two positive leg lifting joints 12 are symmetrically arranged with the center of the pelvic support frame 10 as the origin, the bottom of the positive leg lifting joint 12 is fixedly installed with the casing of the leg rotating motor 15, and a protective structure is arranged on the outside of the pelvic support frame 10, and a hip limiting structure for limiting the left and right movement of the waist structure is arranged on the top; With reference to the Cartesian coordinate system, the axis of the output end of the side leg-lifting motor 13 coincides with the Y axis, the axis of the output end of the front leg-lifting motor 14 coincides with the X axis, and the axis of the output end of the leg-rotating motor 15 coincides with the Z axis.

[0020] Specifically, Figure 1-2 As shown, the hip structure is connected by a step-by-step linkage structure of two groups of side leg-lifting motors 13, two groups of positive leg-lifting motors 14 and two groups of leg-turning motors 15, that is, taking the side leg-lifting motor 13 and the pelvic support frame 10 as the base points, the positive leg-lifting motor 14 is fixed to the output shaft of the side leg-lifting motor 13 through the side leg-lifting joint 11, and then the leg-turning motor 15 is fixed to the output shaft of the positive leg-lifting motor 14 through the positive leg-lifting joint 12, and the output shaft of the leg-turning motor 15 is connected to the leg structure, so as to realize the free movement of the hip structure of the bionic robot in the three degrees of freedom directions of X, Y, and Z, so that the hip movement state of the bionic robot is closer to the natural movement posture of humans; at the same time, through the rotation action of the leg-turning motor 15 on the leg, the balance of the bionic robot in walking and standing states is greatly improved. The hip structure is reasonably designed, and the appearance and precision of each component are guaranteed by three-dimensional printing technology. In addition, the material is light, the movement is flexible, and the mimicry is vivid, which is far ahead of other technologies in the field of bionic robots.

[0021] The protective structure includes an external frame support 9 and a pelvic back cover 3. The external frame support 9 is in a "heart" shape, and the pelvic support frame 10 is in a "starfish" shape with five connection ends 1001. The external frame support 9 is covered on the outside of the pelvic support frame 10. The left and right ends and the left and right ends of the bottom of the pelvic support frame 10 are respectively fixed to the inner wall of the external frame support 9. The pelvic back cover 3 is fixedly installed in the middle of the back side of the external frame support 9, and the middle of the top of the pelvic back cover 3 is fixedly installed to the connection end 1001 at the top of the pelvic support frame 10.

[0022] A support fixture 2 is fixedly installed on the middle part of the back side of the pelvic rear cover 3. The support fixture 2 is used for assembly during the production process and for traction during use.

[0023] The hip limiting structure includes a cross bar support seat 6, a waist support cross bar 5, a hip support limiting ring 8 and two cross bar support columns 7. A plug-in slot 1002 is provided in the middle of the pelvic support frame 10. The bottom of the cross bar support seat 6 is fixedly installed inside the plug-in slot 1002. A movable hole 601 is opened in the middle of the cross bar support seat 6. The movable hole 601 is arranged along the X-axis direction. The waist support cross bar 5 is movably connected to the movable hole 601. The bottom ends of the two cross bar support columns 7 are respectively fixedly installed at the two ends of the waist support cross bar 5. The top ends of the cross bar support columns 7 at the two ends are respectively fixedly installed in the middle of the front of the hip support limiting ring 8. The rear end of the hip support limiting ring 8 is fixedly installed with the pelvic back cover 3.

[0024] The front of the hip support limiting ring 8 is a “V”-shaped structure. The whole structure is annular and is located directly above the pelvic support frame 10 . The waist structure is located inside the hip support limiting ring 8 .

[0025] A lumbar support base 4 is fixedly mounted on the top of the crossbar support seat 6, and the top of the lumbar support base 4 is fixedly mounted to the lumbar structure.

[0026] Specifically, Figure 1 , 3 As shown, the pelvic support frame 10 is used as the main unit component for bearing and connecting the structures, so that the connection between the hip structures is firm and reasonable. At the same time, the pelvic support frame 10 is wrapped by arranging the frame external support 9 and the pelvic back cover 3 outside the pelvic support frame 10, thereby effectively improving the overall impact resistance of the hip structure, and effectively preventing the motor and other structural parts from being damaged when the bionic robot falls. At the same time, in order to prevent the bionic robot from causing damage or breakage of the structural connection parts due to the displacement of the waist exceeding the limit position during walking or movement, a hip limiting structure is set. Before the waist structure moves to the limit position, the elastic and tough hip support limiting ring 8 is used to prevent overload, and the waist support cross bar 5 can move left and right in the jumping hole 601, so as to buffer the force of the waist structure hitting the hip support limiting ring 8, thereby effectively protecting the connection structure between the waist and buttocks from damage, making the connection of various structures of the bionic robot safer and more reliable during movement.

[0027] The various parts of the hip structure of the bionic robot are fixed to each other through the fixing pin 1, and the movable connecting parts are fixedly connected by means of a latch or by welding the fixing pin 1.

[0028] The side leg-lifting joint 11 is a ring-shaped structure formed by assembling two semicircular structures, wherein one of the semicircular structures is fixedly mounted to the output end of the side leg-lifting motor 13 .

[0029] Each part of the bionic robot's hip structure is printed by a 3D printer.

[0030] The hip support limiting ring 8 is elastic.

[0031] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hip structure of a bionic robot, characterized in that: The invention comprises a pelvic support frame (10), wherein the middle part of the pelvic support frame (10) is mounted on the waist structure, and a motor seat (1003) is arranged on the back side and near both ends of the pelvic support frame (10), and the motor seat (1003) is fixedly mounted on the housing of a side leg-lifting motor (13), and the output end of the side leg-lifting motor (13) is fixedly mounted on one side of a side leg-lifting joint (11), and the two side leg-lifting joints (11) are symmetrically arranged with the center of the pelvic support frame (10) as the origin, and the side leg-lifting joints (11) are far away from the pelvic support frame. One side of the center of the support frame (10) is fixedly mounted to the housing of a leg-lifting motor (14); the output end of the leg-lifting motor (14) is fixedly mounted to the top of a fixedly mounted leg-lifting joint (12); the two leg-lifting joints (12) are symmetrically arranged with the center of the pelvic support frame (10) as the origin; the bottom of the leg-lifting joint (12) is fixedly mounted to the housing of a leg-rotating motor (15); a protective structure is arranged on the outside of the pelvic support frame (10); a hip limit structure for limiting the left-right movement of the waist structure is arranged on the top of the protective structure; With reference to the Cartesian coordinate system, the axis of the output end of the side leg-lifting motor (13) coincides with the Y axis, the axis of the output end of the front leg-lifting motor (14) coincides with the X axis, and the axis of the output end of the leg-rotating motor (15) coincides with the Z axis.

2. The hip structure of the bionic robot according to claim 1, characterized in that: The protective structure comprises a frame external support (9) and a pelvic back cover (3); the frame external support (9) is in a "heart" shape; the pelvic support frame (10) is in a "starfish" shape and has five connection ends (1001); the frame external support (9) is covered on the outside of the pelvic support frame (10); the left and right ends and the left and right ends of the bottom of the pelvic support frame (10) are respectively fixedly mounted to the inner wall of the frame external support (9); the pelvic back cover (3) is fixedly mounted in the middle of the back of the frame external support (9); and the middle of the top of the pelvic back cover (3) is fixedly mounted to the connection end (1001) at the top of the pelvic support frame (10).

3. The hip structure of the bionic robot according to claim 2, characterized in that: A support fixture (2) is fixedly mounted on the middle part of the back side of the pelvic rear cover (3), and the support fixture (2) is used for assembly during the production process and for traction during use.

4. The hip structure of the bionic robot according to claim 3, characterized in that: The hip limiting structure comprises a cross bar support seat (6), a waist support cross bar (5), a hip support limiting ring (8) and two cross bar support columns (7); a plug-in slot (1002) is provided in the middle of the pelvic support frame (10); the bottom of the cross bar support seat (6) is fixedly installed inside the plug-in slot (1002); a movable hole (601) is opened in the middle of the cross bar support seat (6); the movable hole (601) is arranged along the X-axis direction; the waist support cross bar (5) is movably connected inside the movable hole (601); the bottom ends of the two cross bar support columns (7) are respectively fixedly installed at the two ends of the waist support cross bar (5); the top ends of the cross bar support columns (7) at the two ends are respectively fixedly installed at the middle of the front of the hip support limiting ring (8); the rear end of the hip support limiting ring (8) is fixedly installed with the pelvic back cover (3).

5. The hip structure of the bionic robot according to claim 4, characterized in that: The front of the hip support limiting ring (8) is a "V"-shaped structure, which is annular as a whole and is located directly above the pelvic support frame (10), and the waist structure is located inside the hip support limiting ring (8).

6. The hip structure of the bionic robot according to claim 5, characterized in that: A lumbar support base (4) is fixedly mounted on the top of the crossbar support seat (6), and the top of the lumbar support base (4) is fixedly mounted on the lumbar structure.

7. The hip structure of the bionic robot according to claim 1, characterized in that: The various parts of the hip structure of the bionic robot are fixed to each other via fixing pins (1).

8. The hip structure of the bionic robot according to claim 1, characterized in that: The side leg-lifting joint (11) is a ring-shaped structure formed by assembling two semicircular structures, wherein one of the semicircular structures is fixedly mounted to the output end of the side leg-lifting motor (13).

9. The hip structure of the bionic robot according to claim 1, characterized in that: Each component of the hip structure of the bionic robot is printed by a three-dimensional printer.

10. The hip structure of the bionic robot according to claim 5, characterized in that: The hip support limiting ring (8) is elastic.

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