Frame structure of humanoid robot

Abstract

The frame structure of the humanoid robot comprises a hip assembly, a thigh assembly and a shank assembly, the hip assembly comprises a hip joint Pitch assembly, a hip joint Roll assembly, a hip joint Yaw assembly, a trunk supporting frame and a U-shaped support, and the hip joint Pitch assembly enables a pitch motor to incline by 20 degrees through the trunk supporting frame and then is connected with the U-shaped support; the U-shaped support is rigidly and fixedly connected with the hip joint Yaw assembly through the hip joint Roll assembly, and the thigh assembly is connected with the shank assembly. A crossed roller bearing double-sided fixing structure is arranged at the connecting part of the hip joint Roll assembly and the hip joint Pitch assembly; the hip joint pitch motor and the hip joint roll motor are designed in a coupling mode, the crossed roller bearing is additionally arranged on the output shaft of the hip joint motor, meanwhile, the structural mode that the inner ring and the outer ring are fixed on the four sides is adopted, and the hip joint pitch motor is resistant to impact and overturning moment, easy to install and stable in reliability.

Description

Technical Field

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

[0002] Humanoid robots are bionic robots that can imitate human movements and have good application prospects. Existing humanoid robots have complex structures, and the energy density of suitable-sized rotary motors is low, making it difficult for humanoid robots to complete difficult movements. At the same time, the joints are decoupled, but the output torque of the joints is relatively limited. The cantilever structure design of the motor places too much load on the motor output shaft, which can easily cause damage to the rotary motor, greatly reducing the overall service life of the humanoid robot. Summary of the invention

[0003] The present invention provides a humanoid robot frame structure, which can solve the problems of insufficient motor capacity density or excessive motor size and mass affecting structural design and overall machine quality in current electric drive solutions of full-size humanoid robots.

[0004] To solve the above problems, the technical solution provided by the present invention is as follows:

[0005] The embodiment of the present invention provides a frame structure of a humanoid robot, comprising a hip component, a thigh component (4) and a shank component (5), wherein the hip component comprises a hip joint pitch component (1), a hip joint roll component (2), a hip joint yaw component (3), a trunk support frame (6) and a U-shaped support frame (7), wherein the hip joint pitch component (1) is connected to the U-shaped support frame (7) after the pitch motor is tilted by 20 degrees through the trunk support frame (6); the U-shaped support frame (7) is rigidly connected to the hip joint yaw component (3) through the hip joint roll component (2), and the thigh component (4) is connected to the shank component (5); a cross roller bearing double-sided fixing structure is provided at the connection portion between the hip joint roll component (2) and the hip joint pitch component (1), which is used to transfer the overturning moment and impact force transmitted upward during the leg movement to the motor stator of the hip joint pitch component (1) and the rigid fixing structure of the motor fixing sleeve.

[0006] In an optional embodiment of the present invention, the thigh component (4) forms a knee joint pitch rotation axis through the U-shaped bracket (7), and the U-shaped bracket (7) is rigidly connected to the motor output shaft of the hip joint Yaw component (3). At the connection part, the upward impact force of the leg extension rod and the overturning moment generated by the leg swinging outward are transferred to the motor stator end and the motor fixing seat of the hip joint Yaw component (3) through the cross roller bearing embedded in the hip joint Yaw motor fixing seat (8), so as to ensure that the thigh component (4) maximizes the extension of the service life of the hip joint Yaw component (3).

[0007] In an optional embodiment of the present invention, the rotation axis where the thigh component (4) and the calf component (5) are connected is connected by means of an oil-containing copper sleeve (9). The oil-containing copper sleeve (9) and the plane needle bearing are used to replace the traditional bearing solution, thereby effectively improving the impact resistance of the connection structure, improving the reliability and service life of the connection structure, and the oil-containing copper sleeve (9) can also reduce friction damping and the wear of the copper sleeve during rotation.

[0008] In an optional embodiment of the present invention, the thigh component (4) includes a knee joint rotation axis (10) and a knee joint bearing steel sleeve (11), the knee joint rotation axis (10) and the knee joint bearing steel sleeve (11) are fixedly connected through the knee joint rotation axis (10) and pass through the oil-containing copper sleeve (9) to form a supporting structure, and a plane needle bearing is installed between the knee joint rotation axis (10) and the oil-containing copper sleeve (9) to form a tightly connected structure, while avoiding the problem of copper sleeve wear caused by the rotation of the shaft end face relative to the copper sleeve.

[0009] In an optional embodiment of the present invention, the motors of the hip joint pitch component (1), the hip joint roll component (2) and the hip joint yaw component (3) all adopt 135 mm diameter winding module motors with a peak torque exceeding 500 N·m.

[0010] Beneficial effects: The embodiment of the present invention provides a frame structure of a humanoid robot, including a hip component, a thigh component and a calf component. The hip component includes a hip joint Pitch component, a hip joint Roll component, a hip joint Yaw component, a trunk support frame and a U-shaped support frame. The hip joint Pitch component tilts the pitch motor 20° through the trunk support frame and then connects to the U-shaped support frame; the U-shaped support frame is rigidly connected to the hip joint Yaw component through the hip joint Roll component, and the thigh component is connected to the calf component; a cross roller bearing double-sided fixing structure is provided at the connection portion between the hip joint Roll component and the hip joint Pitch component, which is used to transfer the overturning moment and impact force transmitted upward during the leg movement to the motor stator of the hip joint Pitch component and the rigid fixing structure of the motor fixing sleeve, thereby maximizing the service life of the motor. The hip joint pitch motor and the hip joint roll motor coupling design of the present invention increase the cross roller bearing through the output shaft of the hip joint motor, and adopt a structural method in which the inner and outer rings are fixed on four sides. The hip joint pitch motor has the ability to resist impact and overturning moment, is easy to install, and has stable reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0012] Figure 1 A schematic structural diagram of the frame structure of a humanoid robot provided in an embodiment of the present application.

[0013] Figure 2 A schematic diagram of a U-shaped bracket of a frame structure of a humanoid robot provided in an embodiment of the present application.

[0014] Figure 3 A schematic diagram of a thigh component of a frame structure of a humanoid robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0016] like Figure 1 and Figure 2As shown, a frame structure of a humanoid robot provided by an embodiment of the present invention includes a hip component, a thigh component 4 and a calf component 5, wherein the hip component includes a hip joint Pitch component 1, a hip joint Roll component 2, a hip joint Yaw component 3, a trunk support frame 6 and a U-shaped bracket 7, wherein the hip joint Pitch component 1 is connected to the U-shaped bracket 7 after the pitch motor is tilted 20° through the trunk support frame 6; the U-shaped bracket 7 is rigidly connected to the hip joint Yaw component 3 through the hip joint Roll component 2, and the thigh component 4 is connected to the calf component 5; a cross roller bearing double-sided fixing structure is provided at the connecting portion between the hip joint Roll component 2 and the hip joint Pitch component 1, that is, a structural method in which the inner and outer rings are fixed on four sides is adopted; the cross roller bearing double-sided fixing structure is used to transfer the overturning moment and impact force transmitted upward during the leg movement to the motor stator of the hip joint Pitch component 1 and the rigid fixing structure of the motor fixing sleeve.

[0017] The thigh component 4 forms the knee joint Pitch rotation axis through the U-shaped bracket 7. The U-shaped bracket 7 is rigidly fixed to the motor output shaft of the hip joint Yaw component 3. At the connection part, the upward impact force of the leg extension rod and the overturning moment generated by the outward swing of the leg are transferred to the motor stator end and the motor fixing seat of the hip joint Yaw component 3 through the cross roller bearing embedded in the hip joint Yaw motor fixing seat 8, so as to ensure that the thigh component 4 maximizes the service life of the hip joint Yaw component 3.

[0018] Figure 3 Combination Figure 1 and Figure 2 The rotation axis where the thigh component 4 is connected to the calf component 5 is connected by an oil-containing copper sleeve 9. The oil-containing copper sleeve 9 is used in conjunction with a plane needle bearing to replace the traditional bearing solution, which effectively improves the impact resistance of the connection structure, improves the reliability and service life of the connection structure, and at the same time, the oil-containing copper sleeve 9 can also reduce friction damping and the wear of the copper sleeve during rotation. The thigh component 4 includes a knee joint rotation axis 10 and a knee joint bearing steel sleeve 11. The knee joint rotation axis 10 and the knee joint bearing steel sleeve 11 are fixedly connected and pass through the oil-containing copper sleeve 9 to form a supporting structure. A plane needle bearing is installed between the knee joint rotation axis 10 and the oil-containing copper sleeve 9 to form a tight connection structure, while avoiding the problem of copper sleeve wear caused by the rotation of the shaft end face relative to the copper sleeve.

[0019] In order to enable the humanoid robot to obtain a higher energy density, the present invention provides a lightweight layout structure of hip joint motor coupling. The motors of the hip joint Pitch component 1, the hip joint Roll component 2 and the hip joint Yaw component 3 all use 135mm diameter winding module motors with a peak torque exceeding 500N·m. At the same time, the motors are embedded in the thigh belly structure. The number of mechanical structure parts is reduced by structural fusion. At the same time, the weight of the whole machine is reduced while ensuring the structural rigidity, making the robot more lightweight. In this design, in order to prevent the output shaft structure of the hip joint pitch motor from bearing the overturning moment and huge impact force caused by the leg falling to the ground, a cross roller bearing bilateral fixing structure is designed in the pitch motor fixing structure to transfer the overturning moment and impact force generated by the movement of the humanoid robot legs to the motor stator end and the motor fixing sleeve structure, thereby maximizing the service life of the motor.

[0020] In order to extend the service life of the humanoid robot structural frame, the present invention provides a knee joint load-bearing structure with an oil-containing copper sleeve replacing the bearing. Under the premise of ensuring smooth and low-damping operation of the knee joint, the knee joint can obtain greater impact resistance and anti-overturning moment ability. According to calculations and experiments, the service life is 2 to 3 times that of the bearing solution, and the load-bearing capacity is twice that of the same size bearing design solution.

[0021] In summary, although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A frame structure of a humanoid robot, characterized in that: The invention comprises a hip component, a thigh component (4) and a calf component (5), wherein the hip component comprises a hip joint pitch component (1), a hip joint roll component (2), a hip joint yaw component (3), a trunk support frame (6) and a U-shaped support frame (7), wherein the hip joint pitch component (1) is connected to the U-shaped support frame (7) after the pitch motor is tilted by 20 degrees through the trunk support frame (6); the U-shaped support frame (7) is rigidly connected to the hip joint yaw component (3) through the hip joint roll component (2), and the thigh component (4) is connected to the calf component (5); a cross roller bearing double-sided fixing structure is provided at the connection portion between the hip joint roll component (2) and the hip joint pitch component (1), which is used to transfer the overturning moment and impact force transmitted upward during the leg movement to the motor stator of the hip joint pitch component (1) and the rigid fixing structure of the motor fixing sleeve.

2. The frame structure of a humanoid robot according to claim 1, characterized in that: The thigh component (4) forms a knee joint pitch rotation axis through the U-shaped bracket (7); the U-shaped bracket (7) is rigidly connected to the motor output shaft of the hip joint Yaw component (3); at the connection portion, the upward impact force of the leg extension rod and the overturning moment generated by the leg swinging outward are transferred to the motor stator end and the motor fixing seat of the hip joint Yaw component (3) through the cross roller bearing embedded in the hip joint Yaw motor fixing seat (8), so as to ensure that the thigh component (4) maximizes the extension of the service life of the hip joint Yaw component (3).

3. The frame structure of a humanoid robot according to claim 1, characterized in that: The rotation axis where the thigh component (4) and the calf component (5) are connected is connected by means of an oil-containing copper sleeve (9). The oil-containing copper sleeve (9) cooperates with a plane needle bearing to replace a traditional bearing solution, thereby effectively improving the impact resistance of the connection structure, improving the reliability and service life of the connection structure, and the oil-containing copper sleeve (9) can also reduce friction damping and the wear of the copper sleeve during rotation.

4. The frame structure of a humanoid robot according to claim 1, characterized in that: The thigh component (4) comprises a knee joint rotation shaft (10) and a knee joint bearing steel sleeve (11); the knee joint rotation shaft (10) and the knee joint bearing steel sleeve (11) are fixedly connected through the knee joint rotation shaft (10) and pass through the oil-containing copper sleeve (9) to form a supporting structure; a plane needle bearing is installed between the knee joint rotation shaft (10) and the oil-containing copper sleeve (9) to form a tightly connected structure, while avoiding the problem of copper sleeve wear caused by the rotation of the shaft end face relative to the copper sleeve.

5. The frame structure of a humanoid robot according to claim 1, characterized in that: The motors of the hip joint pitch component (1), the hip joint roll component (2) and the hip joint yaw component (3) all adopt 135 mm diameter winding module motors with a peak torque exceeding 500 N·m.

Images