Waist and crotch assembly and humanoid robot with waist and crotch assembly

Abstract

The invention discloses a waist and hip assembly, and relates to the technical field of humanoid robots. The waist rotation driving device is mounted on the waist platform; the left side leg swinging driving assembly comprises a first rotary support rotationally installed in the waist platform and a left side leg swinging driving device fixedly installed on the waist platform; the left side rotating leg driving assembly comprises a second rotating support rotationally installed on the first rotating support and a left side rotating leg driving device fixedly installed on the first rotating support; the right side leg swinging driving assembly comprises a third rotary support rotationally installed in the waist platform and a right side leg swinging driving device fixedly installed on the waist platform; and the right side rotating leg driving assembly comprises a fourth rotating bracket rotationally mounted on the third rotating bracket and a right side rotating leg driving device fixedly mounted on the third rotating bracket. The waist and crotch structures of the robot are optimized, the leg movement drivers are used for completing movement of the waist, and the number of the drivers is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of humanoid robots, and in particular to a waist-hip assembly and a humanoid robot having the waist-hip assembly. Background Art

[0002] Humanoid robots can imitate the appearance and movement posture of humans and have broad application prospects. Humanoid robots generally include upper limb components, waist and hip components, and lower limb components. The waist and hip components are connected between the upper limb components and the lower limb components. Similar to the human body, the waist and hip components are mainly used to realize the functions of the waist and hip joints, including bending, sideways, waist rotation, leg lifting, side leg swinging, thigh rotation and other movement functions. The waist and hip components of the existing technical solutions usually have one actuator for each movement function, requiring a total of 9 actuators, which are complex in structure and high in cost. Summary of the invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a waist and hip assembly and a humanoid robot having the waist and hip assembly.

[0004] In order to solve the above technical problems, the technical solution of the present invention is as follows: A waist and hip assembly, comprising: Lumbar platform; A waist rotation driving device, fixedly mounted on the waist platform, for driving the robot upper limb assembly to rotate around the waist platform; The left-side leg swinging driving assembly comprises a first swivel bracket rotatably mounted in the waist platform and a left-side leg swinging driving device fixedly mounted on the waist platform and used for driving the first swivel bracket to rotate; A left-side swivel leg driving assembly, comprising a second swivel bracket rotatably mounted on the first swivel bracket and a left-side swivel leg driving device fixedly mounted on the first swivel bracket and used for driving the second swivel bracket to swivel; The right-side swing leg driving assembly comprises a third swivel bracket rotatably mounted in the waist platform and a right-side swing leg driving device fixedly mounted on the waist platform and used for driving the third swivel bracket to rotate; A right-side swivel leg driving assembly, comprising a fourth swivel bracket rotatably mounted on the third swivel bracket and a right-side swivel leg driving device fixedly mounted on the third swivel bracket and used for driving the fourth swivel bracket to swivel; A left leg-lifting driving assembly, comprising a left leg-lifting driving device fixedly mounted on the second swivel bracket, the left leg-lifting driving device being drivingly connected to the left leg assembly of the robot and used for driving the left leg assembly of the robot to be lifted or lowered; The right leg-lifting driving assembly comprises a left leg-lifting driving device fixedly mounted on the second swivel bracket, wherein the left leg-lifting driving device is drivingly connected to the left leg assembly of the robot and is used for driving the left leg assembly of the robot to be lifted or lowered.

[0005] As a preferred solution of the waist and hip assembly of the present invention, in the initial state, the axes of the second rotating bracket and the fourth rotating bracket are parallel to the rotating axis of the waist rotating drive assembly.

[0006] As a preferred solution of the waist and hip assembly of the present invention, the second swivel bracket and the fourth swivel bracket are symmetrically arranged on both sides of the waist platform.

[0007] As a preferred solution of the waist and hip assembly of the present invention, the axes of the first rotating bracket and the third rotating bracket coincide with each other, and are perpendicular to and intersect with the rotating axis of the waist rotating drive assembly.

[0008] As a preferred embodiment of the waist and hip assembly of the present invention, the rotation axis of the left leg lifting drive device is perpendicular to and intersects with the rotation axis of the left leg rotating drive device, and the rotation axis of the right leg lifting drive device is perpendicular to and intersects with the rotation axis of the right leg rotating drive device.

[0009] As a preferred solution of the waist and hip assembly described in the present invention, the waist rotation drive device, the left leg swinging drive device, the left leg rotating drive device, the left leg lifting drive device, the right leg swinging drive device, the right leg rotating drive device, and the right leg lifting drive device are all servo motors.

[0010] The present invention also provides a humanoid robot, comprising a waist and hip assembly as described in any one of the above items.

[0011] The beneficial effects of the present invention are: The present invention optimizes the mechanical setting of the waist and hip part of the robot, uses the leg motion driver to complete the movement of the waist, reduces the number of drivers of the whole machine, reduces the cost and makes the layout of the whole machine simpler and the appearance more beautiful. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0013] Figure 1 A schematic diagram of the structure of the waist and hip assembly provided by the present invention; Among them: 1. Waist platform; 2. Waist rotation drive device; 3. First rotation bracket; 4. Left leg swinging drive device; 5. Second rotation bracket; 6. Left leg rotation drive device; 7. Third rotation bracket; 8. Right leg swinging drive device; 9. Fourth rotation bracket; 10. Right leg rotation drive device; 11. Left leg lifting drive device; 12. Right leg lifting drive device. DETAILED DESCRIPTION

[0014] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific implementation modes and in combination with the accompanying drawings. Example

[0015] See also Figure 1 , this embodiment provides a waist and hip assembly, which includes a waist platform 1, a waist rotation drive device 2, a left leg swinging drive component, a left leg turning drive component, a left leg lifting drive component, a right leg swinging drive component, a right leg turning drive component and a right leg lifting drive component. Among them, the waist rotation drive device 2 can drive the robot's upper limb assembly to rotate, and the left leg swinging drive component, the left leg turning drive component and the left leg lifting drive component operate together to drive the robot's left leg assembly to swing, turn and lift the leg. The right leg swinging drive component, the right leg turning drive component and the right leg lifting drive component operate together to drive the robot's right leg assembly to swing, turn and lift the leg.

[0016] Specifically, a mounting groove is provided in the waist platform 1, and the mounting groove extends upward from the bottom of the waist platform 1. The waist rotation driving device 2 is fixedly installed on the upper end of the waist platform 1, and is drivingly connected to the robot upper limb assembly to drive the robot upper limb assembly to rotate around the waist platform 1.

[0017] It should be noted that the rotation axis of the waist rotation drive device 2 coincides with the axis of the waist platform 1, ensuring that the center of gravity of the robot's upper limb assembly coincides with the waist platform 1, thereby preventing the robot from falling when the robot's upper limb assembly rotates.

[0018] The left leg swing driving assembly includes a first swivel bracket 3 rotatably mounted in the waist platform 1 and a left leg swing driving device 4 fixedly mounted on the waist platform 1. The first swivel bracket 3 is located in the mounting groove of the waist platform 1, and the swivel axis of the first swivel bracket 3 extends in the horizontal direction. The left leg swing driving device 4 is fixedly mounted on one side of the waist platform 1 and is drivingly connected to the first swivel bracket 3, and is used to drive the first swivel bracket 3 to rotate around its own axis, thereby driving the left leg assembly of the robot to swing left and right.

[0019] The left-side swivel leg driving assembly includes a second swivel bracket 5 rotatably mounted on the first swivel bracket 3 and a left-side swivel leg driving device 6 fixedly mounted on the first bracket. Among them, one side of the first swivel bracket 3 extends to the outside of the mounting groove of the waist platform 1 and forms a mounting seat. The second swivel bracket 5 is rotatably mounted on the mounting seat, and the axis of the second swivel bracket 5 is parallel to the rotation axis of the waist rotation driving assembly. The left-side swivel leg driving device 6 is fixedly mounted on the above-mentioned mounting seat and is drivingly connected to the second swivel bracket 5, which can drive the second swivel bracket 5 to rotate around its own axis, so that the left-side leg assembly rotates around the vertical rotation axis.

[0020] The left leg-lifting driving assembly comprises a left leg-lifting driving device 11 fixedly mounted on the second swivel bracket 5. The left leg-lifting driving device 11 is drivingly connected to the robot left leg assembly and is used to drive the robot left leg assembly to be lifted or lowered.

[0021] It should be noted that the rotation axis of the left leg-lifting driving device 11 is perpendicular to and intersects with the rotation axis of the left leg-turning driving device 6 .

[0022] The right leg swing drive assembly includes a third swivel bracket 7 rotatably mounted in the waist platform 1 and a right leg swing drive device 8 fixedly mounted on the waist platform 1. Among them, the third swivel bracket 7 is located in the mounting groove of the waist platform 1, and the rotation axis of the third swivel bracket 7 extends in the horizontal direction. It should be noted that the axis of the third swivel bracket 7 coincides with that of the first swivel bracket 3, and is perpendicular to and intersects with the rotation axis of the waist rotation drive assembly. The left leg swing drive device 4 is fixedly mounted on the other side of the waist platform 1, and is drivingly connected to the third swivel bracket 7, and is used to drive the third swivel bracket 7 to rotate around its own axis, thereby driving the right leg assembly of the robot to swing left and right.

[0023] The right-side swivel leg driving assembly includes a fourth swivel bracket 9 rotatably mounted on the third swivel bracket 7 and a right-side swivel leg driving device 10 fixedly mounted on the third bracket. Among them, one side of the third swivel bracket 7 extends to the outside of the mounting groove of the waist platform 1 and forms a mounting seat. The fourth swivel bracket 9 is rotatably mounted on the mounting seat, and the axis of the fourth swivel bracket 9 is parallel to the rotation axis of the waist swivel driving assembly. The right-side swivel leg driving device 10 is fixedly mounted on the above-mentioned mounting seat and is drivingly connected to the fourth swivel bracket 9, which can drive the fourth swivel bracket 9 to rotate around its own axis, so that the right-side leg assembly rotates around the vertical rotation axis.

[0024] It should be noted that the second swivel bracket 5 and the fourth swivel bracket 9 are symmetrically arranged on both sides of the waist platform 1 .

[0025] The right leg-lifting driving assembly comprises a right leg-lifting driving device 12 fixedly mounted on the fourth swivel bracket 9. The right leg-lifting driving device 12 is drivingly connected to the robot right leg assembly and is used to drive the robot right leg assembly to lift or put down.

[0026] In this embodiment, the waist rotation driving device 2, the left leg swing driving device 4, the left leg rotation driving device 6, the left leg lifting driving device 11, the right leg swing driving device 8, the right leg rotation driving device 10, and the right leg lifting driving device 12 are all servo motors. Through the precise control of the servo motors, the precise control of the robot lower limb assembly can be achieved.

[0027] The left leg swinging drive assembly, the left leg turning drive assembly and the left leg lifting drive assembly work together to drive the robot's left leg assembly to swing, rotate and lift the leg. The right leg swinging drive assembly, the right leg turning drive assembly and the right leg lifting drive assembly work together to drive the robot's right leg assembly to swing, rotate and lift the leg, thereby realizing the movement of the robot's waist by leg drive, reducing the number of robot drivers, which not only reduces costs but also makes the overall layout simpler. Example

[0028] This embodiment provides a humanoid robot, which includes the waist and hip assembly mentioned above.

[0029] Therefore, the technical solution of the present application optimizes the structural setting of the robot's waist and hips, uses leg motion drivers to complete the movement of the waist, reduces the number of drivers of the entire machine, reduces costs and makes the overall layout simpler and the appearance more beautiful.

[0030] In addition to the above embodiments, the present invention may also have other implementation modes; any technical solutions formed by equivalent replacement or equivalent transformation shall fall within the protection scope required by the present invention.

Claims

1. A waist and hip assembly, characterized in that: include: Lumbar platform (1); A waist rotation driving device (2) is fixedly mounted on the waist platform (1) and is used to drive the robot upper limb assembly to rotate around the waist platform (1); The left-side leg-swinging driving assembly comprises a first swivel bracket (3) rotatably mounted in the waist platform (1) and a left-side leg-swinging driving device (4) fixedly mounted on the waist platform (1) and used for driving the first swivel bracket (3) to swivel; A left-side swivel leg driving assembly, comprising a second swivel bracket (5) rotatably mounted on the first swivel bracket (3) and a left-side swivel leg driving device (6) fixedly mounted on the first swivel bracket (3) and used for driving the second swivel bracket (5) to swivel; A right-side leg-swinging driving assembly comprises a third swivel bracket (7) rotatably mounted in the waist platform (1) and a right-side leg-swinging driving device (8) fixedly mounted on the waist platform (1) and used for driving the third swivel bracket (7) to swivel; A right-side rotating leg driving assembly comprises a fourth rotating bracket (9) rotatably mounted on the third rotating bracket (7) and a right-side rotating leg driving device (10) fixedly mounted on the third rotating bracket (7) and used for driving the fourth rotating bracket (9) to rotate; A left leg-lifting driving assembly, comprising a left leg-lifting driving device (11) fixedly mounted on the second slewing bracket (5), wherein the left leg-lifting driving device (11) is drivingly connected to the left leg assembly of the robot and is used to drive the left leg assembly of the robot to be lifted or lowered; The right leg-lifting driving assembly comprises a right leg-lifting driving device (12) fixedly mounted on the fourth swivel bracket (9); the right leg-lifting driving device (12) is drivingly connected to the right leg assembly of the robot and is used to drive the right leg assembly of the robot to be lifted or lowered.

2. The waist and hip assembly according to claim 1, characterized in that: In an initial state, the axes of the second swivel bracket (5) and the fourth swivel bracket (9) are parallel to the swivel axis of the waist swivel drive assembly.

3. The waist and hip assembly according to claim 1, characterized in that: The second swivel bracket (5) and the fourth swivel bracket (9) are symmetrically arranged on both sides of the waist platform (1).

4. The waist and hip assembly according to claim 1, characterized in that: The axes of the first swivel bracket (3) and the third swivel bracket (7) coincide with each other and are perpendicular to and intersect with the swivel axis of the waist swivel drive assembly.

5. The waist and hip assembly according to claim 1, characterized in that: The rotation axis of the left leg-lifting driving device (11) is perpendicular to and intersects with the rotation axis of the left leg-turning driving device (6), and the rotation axis of the right leg-lifting driving device (12) is perpendicular to and intersects with the rotation axis of the right leg-turning driving device (10).

6. The waist and hip assembly according to claim 1, characterized in that: The waist rotation drive device (2), the left leg swinging drive device (4), the left leg rotation drive device (6), the left leg lifting drive device (11), the right leg swinging drive device (8), the right leg rotation drive device (10), and the right leg lifting drive device (12) are all servo motors.

7. A humanoid robot, characterized in that: It comprises a waist and hip assembly as described in any one of claims 1-6.

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